{
    "0": {
        "acceleration": [
            -0.002657863311469555,
            -0.008510053157806396,
            -0.5743595957756042
        ],
        "angular_velocity": [
            -0.053493931889534,
            -0.031203273683786392,
            0.0003196074685547501
        ],
        "forward_vector": [
            0.00177264423109591,
            0.9998903274536133,
            -0.014704888686537743
        ],
        "right_vector": [
            -0.9999984502792358,
            0.0017734625143930316,
            4.2605675844242796e-05
        ],
        "location": [
            -823.0768432617188,
            6367.98486328125,
            362.0326232910156
        ],
        "rotation": [
            -0.0024413892533630133,
            -0.8425584435462952,
            89.89842224121094
        ],
        "velocity": [
            -0.00021021004067733884,
            0.0032203097362071276,
            0.20607419312000275
        ],
        "speed": 0.0032271633144779002,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "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": 0.0005234515410847962,
        "expert_target_speed": 10.0,
        "target_point": [
            19.917511603053065,
            -0.0001498596864542498
        ],
        "target_point_next": [
            19.917511603053065,
            -0.0001498596864542498
        ]
    },
    "5": {
        "acceleration": [
            -0.0005190267693251371,
            -0.006609780248254538,
            -0.3886881470680237
        ],
        "angular_velocity": [
            -0.02203693799674511,
            -0.013111119158565998,
            6.41811711830087e-05
        ],
        "forward_vector": [
            0.0017729982500895858,
            0.9998883008956909,
            -0.014841248281300068
        ],
        "right_vector": [
            -0.9999984502792358,
            0.0017730870749801397,
            -7.1786339503887575e-06
        ],
        "location": [
            -823.0768432617188,
            6367.9853515625,
            362.0650329589844
        ],
        "rotation": [
            0.0004113507457077503,
            -0.8503721356391907,
            89.89840698242188
        ],
        "velocity": [
            -9.966912330128253e-05,
            0.001156504382379353,
            0.07210741192102432
        ],
        "speed": 0.0011607912476420104,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.001409530639648,
        "front_vehicle_info": {
            "id": 33544,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -823.05029296875,
                6382.9853515625,
                361.861083984375
            ],
            "velocity": [
                -0.0002156734117306769,
                -0.005222509615123272,
                -0.3630085587501526
            ],
            "speed_kmh": 1.30696627792167,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4342152774333954,
                "transform": {
                    "location": {
                        "x": -823.1033325195312,
                        "y": 6352.9853515625,
                        "z": 362.30902099609375
                    },
                    "rotation": {
                        "roll": 0.0003215606266167015,
                        "pitch": -0.8433780670166016,
                        "yaw": 89.89862060546875
                    }
                },
                "velocity": {
                    "x": -9.63165148277767e-05,
                    "y": -0.006122001446783543,
                    "z": -0.4341720938682556
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.36304616928100586,
                "transform": {
                    "location": {
                        "x": -823.05029296875,
                        "y": 6382.9853515625,
                        "z": 361.861083984375
                    },
                    "rotation": {
                        "roll": 5.656863777403487e-06,
                        "pitch": -0.8439039587974548,
                        "yaw": 89.89848327636719
                    }
                },
                "velocity": {
                    "x": -0.0002156734117306769,
                    "y": -0.005222509615123272,
                    "z": -0.3630085587501526
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3560418486595154,
                "transform": {
                    "location": {
                        "x": -823.0243530273438,
                        "y": 6397.986328125,
                        "z": 361.64306640625
                    },
                    "rotation": {
                        "roll": 6.977690645726398e-05,
                        "pitch": -0.8452768325805664,
                        "yaw": 89.90676879882812
                    }
                },
                "velocity": {
                    "x": -0.00011514724610606208,
                    "y": -0.005159065593034029,
                    "z": -0.3560044467449188
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0006403939914889634,
        "expert_target_speed": 1.078057668662214,
        "target_point": [
            19.91702332255986,
            -0.00015071937047489437
        ],
        "target_point_next": [
            19.91702332255986,
            -0.00015071937047489437
        ]
    },
    "10": {
        "acceleration": [
            0.005201844032853842,
            -0.0020991952624171972,
            -0.13224013149738312
        ],
        "angular_velocity": [
            -0.004341155756264925,
            0.00248342496342957,
            -0.00016452975978609174
        ],
        "forward_vector": [
            0.0017735928995534778,
            0.9998875260353088,
            -0.01489238440990448
        ],
        "right_vector": [
            -0.9999984502792358,
            0.0017733804415911436,
            -2.7475876777316444e-05
        ],
        "location": [
            -823.0768432617188,
            6367.9853515625,
            362.0748596191406
        ],
        "rotation": [
            0.0015744264237582684,
            -0.8533022999763489,
            89.89836883544922
        ],
        "velocity": [
            0.00016397311992477626,
            0.00032622754224576056,
            0.019360411912202835
        ],
        "speed": 0.0003651186017961486,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.001657485961914,
        "front_vehicle_info": {
            "id": 33544,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -823.05029296875,
                6382.9853515625,
                361.8534240722656
            ],
            "velocity": [
                0.00011853640899062157,
                0.000691845256369561,
                0.04415507614612579
            ],
            "speed_kmh": 0.15897835800734336,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.027706580236554146,
                "transform": {
                    "location": {
                        "x": -823.1033325195312,
                        "y": 6352.9853515625,
                        "z": 362.2848815917969
                    },
                    "rotation": {
                        "roll": 0.0003546485386323184,
                        "pitch": -0.8497915863990784,
                        "yaw": 89.89857482910156
                    }
                },
                "velocity": {
                    "x": 0.00015536589489784092,
                    "y": 0.00046966804075054824,
                    "z": 0.02770216390490532
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04416065290570259,
                "transform": {
                    "location": {
                        "x": -823.05029296875,
                        "y": 6382.9853515625,
                        "z": 361.8534240722656
                    },
                    "rotation": {
                        "roll": -0.0006409334018826485,
                        "pitch": -0.844327449798584,
                        "yaw": 89.89849090576172
                    }
                },
                "velocity": {
                    "x": 0.00011853640899062157,
                    "y": 0.000691845256369561,
                    "z": 0.04415507614612579
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04404837638139725,
                "transform": {
                    "location": {
                        "x": -823.0243530273438,
                        "y": 6397.986328125,
                        "z": 361.6356201171875
                    },
                    "rotation": {
                        "roll": -0.00021357342484407127,
                        "pitch": -0.8465608954429626,
                        "yaw": 89.90670776367188
                    }
                },
                "velocity": {
                    "x": 1.6818408766994253e-05,
                    "y": 0.0007129258010536432,
                    "z": 0.04404260218143463
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.00047798172454349697,
        "expert_target_speed": 1.0258683570591776,
        "target_point": [
            19.91702330564717,
            -0.0008345160999233617
        ],
        "target_point_next": [
            19.91702330564717,
            -0.0008345160999233617
        ]
    },
    "15": {
        "acceleration": [
            -0.0009320140816271305,
            -0.0006180971395224333,
            -0.015175379812717438
        ],
        "angular_velocity": [
            0.0046907756477594376,
            -0.016172699630260468,
            3.844303500954993e-05
        ],
        "forward_vector": [
            0.0017734732246026397,
            0.9998872876167297,
            -0.014908833429217339
        ],
        "right_vector": [
            -0.9999984502792358,
            0.0017732783453539014,
            -2.629635673656594e-05
        ],
        "location": [
            -823.0768432617188,
            6367.9853515625,
            362.0773010253906
        ],
        "rotation": [
            0.0015068377833813429,
            -0.8542448878288269,
            89.89837646484375
        ],
        "velocity": [
            -4.520183210843243e-05,
            9.166806557914242e-05,
            0.00533453980460763
        ],
        "speed": 0.00010220684846418497,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.089981079101562,
        "front_vehicle_info": {
            "id": 33544,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -823.05078125,
                6383.07373046875,
                361.8589782714844
            ],
            "velocity": [
                -0.005355029366910458,
                1.0850123167037964,
                -0.003441295586526394
            ],
            "speed_kmh": 3.906111559012224,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9671878218650818,
                "transform": {
                    "location": {
                        "x": -823.1038818359375,
                        "y": 6353.05712890625,
                        "z": 362.2890625
                    },
                    "rotation": {
                        "roll": -0.008605957962572575,
                        "pitch": -0.6218818426132202,
                        "yaw": 89.93108367919922
                    }
                },
                "velocity": {
                    "x": -0.009140584617853165,
                    "y": 0.9670644402503967,
                    "z": 0.01245458610355854
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0850310325622559,
                "transform": {
                    "location": {
                        "x": -823.05078125,
                        "y": 6383.07373046875,
                        "z": 361.8589782714844
                    },
                    "rotation": {
                        "roll": -0.004394542425870895,
                        "pitch": -0.7017813920974731,
                        "yaw": 89.94568634033203
                    }
                },
                "velocity": {
                    "x": -0.005355029366910458,
                    "y": 1.0850123167037964,
                    "z": -0.003441295586526394
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2692792415618896,
                "transform": {
                    "location": {
                        "x": -823.027099609375,
                        "y": 6398.09814453125,
                        "z": 361.64056396484375
                    },
                    "rotation": {
                        "roll": -0.02288820408284664,
                        "pitch": -0.6433696150779724,
                        "yaw": 90.0553207397461
                    }
                },
                "velocity": {
                    "x": -0.03198836371302605,
                    "y": 1.2688605785369873,
                    "z": -0.006258401554077864
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0006972968694753945,
        "expert_target_speed": 1.0180839269204793,
        "target_point": [
            19.91702332255986,
            -0.00015071937047489437
        ],
        "target_point_next": [
            19.91702332255986,
            -0.00015071937047489437
        ]
    },
    "20": {
        "acceleration": [
            -0.00023265875643119216,
            -2.995133399963379e-05,
            -0.0026338384486734867
        ],
        "angular_velocity": [
            -0.0014708059607073665,
            -0.00546618364751339,
            -0.0001183866334031336
        ],
        "forward_vector": [
            0.0017735923174768686,
            0.999887228012085,
            -0.014914792031049728
        ],
        "right_vector": [
            -0.9999984502792358,
            0.001773493248037994,
            -1.9868833987857215e-05
        ],
        "location": [
            -823.0768432617188,
            6367.9853515625,
            362.0777282714844
        ],
        "rotation": [
            0.0011385269463062286,
            -0.8545863628387451,
            89.89836883544922
        ],
        "velocity": [
            -2.289050280523952e-05,
            6.17627811152488e-05,
            0.0019209388410672545
        ],
        "speed": 6.586817326878598e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.523113250732422,
        "front_vehicle_info": {
            "id": 33544,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -823.0532836914062,
                6383.5068359375,
                361.8540954589844
            ],
            "velocity": [
                -0.01285016629844904,
                2.2330715656280518,
                -0.031024131923913956
            ],
            "speed_kmh": 8.039966522327475,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.889673113822937,
                "transform": {
                    "location": {
                        "x": -823.107421875,
                        "y": 6353.43212890625,
                        "z": 362.28753662109375
                    },
                    "rotation": {
                        "roll": -0.01712035946547985,
                        "pitch": -0.45740407705307007,
                        "yaw": 90.07576751708984
                    }
                },
                "velocity": {
                    "x": -0.020789839327335358,
                    "y": 1.8894860744476318,
                    "z": -0.016571950167417526
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2333240509033203,
                "transform": {
                    "location": {
                        "x": -823.0532836914062,
                        "y": 6383.5068359375,
                        "z": 361.8540954589844
                    },
                    "rotation": {
                        "roll": -0.006378124933689833,
                        "pitch": -0.6699458956718445,
                        "yaw": 90.06361389160156
                    }
                },
                "velocity": {
                    "x": -0.01285016629844904,
                    "y": 2.2330715656280518,
                    "z": -0.031024131923913956
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6781563758850098,
                "transform": {
                    "location": {
                        "x": -823.0410766601562,
                        "y": 6398.59619140625,
                        "z": 361.63470458984375
                    },
                    "rotation": {
                        "roll": -0.035400405526161194,
                        "pitch": -0.5647609829902649,
                        "yaw": 90.52306365966797
                    }
                },
                "velocity": {
                    "x": -0.07720134407281876,
                    "y": 2.676778793334961,
                    "z": -0.037636712193489075
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0010786819038912654,
        "expert_target_speed": 1.031835190854982,
        "target_point": [
            19.91702332255986,
            -0.00015071937047489437
        ],
        "target_point_next": [
            19.91702332255986,
            -0.00015071937047489437
        ]
    },
    "25": {
        "acceleration": [
            -0.0010921163484454155,
            -0.00036408897722139955,
            0.005980395246297121
        ],
        "angular_velocity": [
            0.0005365433753468096,
            -0.0013160316739231348,
            -0.00018324438133277
        ],
        "forward_vector": [
            0.0017735922010615468,
            0.9998871684074402,
            -0.014917416498064995
        ],
        "right_vector": [
            -0.9999984502792358,
            0.001773434691131115,
            -2.378830686211586e-05
        ],
        "location": [
            -823.0768432617188,
            6367.9853515625,
            362.0779113769531
        ],
        "rotation": [
            0.0013631212059408426,
            -0.8547366857528687,
            89.89836883544922
        ],
        "velocity": [
            -3.6054225347470492e-06,
            3.44949949067086e-05,
            0.0005044316058047116
        ],
        "speed": 3.4682902780302484e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.27123260498047,
        "front_vehicle_info": {
            "id": 33544,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -823.05810546875,
                6384.2548828125,
                361.8433837890625
            ],
            "velocity": [
                -0.025249304249882698,
                3.7858738899230957,
                -0.054257314652204514
            ],
            "speed_kmh": 13.630848672101054,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0604050159454346,
                "transform": {
                    "location": {
                        "x": -823.113525390625,
                        "y": 6354.0458984375,
                        "z": 362.27978515625
                    },
                    "rotation": {
                        "roll": -0.019989008083939552,
                        "pitch": -0.38876068592071533,
                        "yaw": 90.26057434082031
                    }
                },
                "velocity": {
                    "x": -0.034827474504709244,
                    "y": 3.0599215030670166,
                    "z": -0.04178899526596069
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.786346673965454,
                "transform": {
                    "location": {
                        "x": -823.05810546875,
                        "y": 6384.2548828125,
                        "z": 361.8433837890625
                    },
                    "rotation": {
                        "roll": -0.00915524736046791,
                        "pitch": -0.6142866611480713,
                        "yaw": 90.20541381835938
                    }
                },
                "velocity": {
                    "x": -0.025249304249882698,
                    "y": 3.7858738899230957,
                    "z": -0.054257314652204514
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.303888320922852,
                "transform": {
                    "location": {
                        "x": -823.0684204101562,
                        "y": 6399.48193359375,
                        "z": 361.6219177246094
                    },
                    "rotation": {
                        "roll": -0.0453491136431694,
                        "pitch": -0.5189782381057739,
                        "yaw": 91.13277435302734
                    }
                },
                "velocity": {
                    "x": -0.13942137360572815,
                    "y": 4.301170825958252,
                    "z": -0.06280238181352615
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0015475049149245024,
        "expert_target_speed": 1.0544460390521635,
        "target_point": [
            19.91702332255986,
            -0.00015071937047489437
        ],
        "target_point_next": [
            19.91702332255986,
            -0.00015071937047489437
        ]
    },
    "30": {
        "acceleration": [
            0.0059676868841052055,
            1.2212586402893066,
            -0.029025450348854065
        ],
        "angular_velocity": [
            0.3959420919418335,
            -0.018952855840325356,
            -0.04492080584168434
        ],
        "forward_vector": [
            0.0023338180035352707,
            0.999939501285553,
            -0.010745557025074959
        ],
        "right_vector": [
            -0.9999972581863403,
            0.0023335209116339684,
            -4.0192153392126784e-05
        ],
        "location": [
            -823.0765991210938,
            6368.0986328125,
            362.07550048828125
        ],
        "rotation": [
            0.0023029737640172243,
            -0.6156868934631348,
            89.86627197265625
        ],
        "velocity": [
            0.003224546555429697,
            0.8845035433769226,
            -0.012903832830488682
        ],
        "speed": 0.8845094210616525,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.296710968017578,
        "front_vehicle_info": {
            "id": 33544,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -823.0664672851562,
                6385.3935546875,
                361.8269348144531
            ],
            "velocity": [
                -0.03970396891236305,
                5.229433059692383,
                -0.07230313122272491
            ],
            "speed_kmh": 18.828300894866057,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.486451625823975,
                "transform": {
                    "location": {
                        "x": -823.1240234375,
                        "y": 6355.0029296875,
                        "z": 362.26580810546875
                    },
                    "rotation": {
                        "roll": -0.025024408474564552,
                        "pitch": -0.2700793147087097,
                        "yaw": 90.45892333984375
                    }
                },
                "velocity": {
                    "x": -0.0547512024641037,
                    "y": 4.485645294189453,
                    "z": -0.06508105248212814
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.230083465576172,
                "transform": {
                    "location": {
                        "x": -823.0664672851562,
                        "y": 6385.3935546875,
                        "z": 361.8269348144531
                    },
                    "rotation": {
                        "roll": -0.01086424756795168,
                        "pitch": -0.6112062931060791,
                        "yaw": 90.34431457519531
                    }
                },
                "velocity": {
                    "x": -0.03970396891236305,
                    "y": 5.229433059692383,
                    "z": -0.07230313122272491
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.445250988006592,
                "transform": {
                    "location": {
                        "x": -823.1113891601562,
                        "y": 6400.73486328125,
                        "z": 361.6039123535156
                    },
                    "rotation": {
                        "roll": -0.043212901800870895,
                        "pitch": -0.5797122716903687,
                        "yaw": 91.67274475097656
                    }
                },
                "velocity": {
                    "x": -0.19405095279216766,
                    "y": 5.44120454788208,
                    "z": -0.07996965199708939
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.000681902514770627,
        "expert_target_speed": 1.9549905177913272,
        "target_point": [
            19.803738821503224,
            0.010895254999414843
        ],
        "target_point_next": [
            19.803738821503224,
            0.010895254999414843
        ]
    },
    "35": {
        "acceleration": [
            0.00583600252866745,
            1.7413592338562012,
            -0.013931840658187866
        ],
        "angular_velocity": [
            -0.08646171540021896,
            0.0009631499997340143,
            -0.384838730096817
        ],
        "forward_vector": [
            0.002618229715153575,
            0.999937117099762,
            -0.010900638066232204
        ],
        "right_vector": [
            -0.999996542930603,
            0.002617772202938795,
            -5.624024197459221e-05
        ],
        "location": [
            -823.0756225585938,
            6368.376953125,
            362.0714416503906
        ],
        "rotation": [
            0.0032225199975073338,
            -0.6245729327201843,
            89.8499755859375
        ],
        "velocity": [
            0.005449753720313311,
            1.327851414680481,
            -0.018780559301376343
        ],
        "speed": 1.3278625980441525,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.361276626586914,
        "front_vehicle_info": {
            "id": 33544,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -823.0771484375,
                6386.736328125,
                361.80718994140625
            ],
            "velocity": [
                -0.045353036373853683,
                5.445077419281006,
                -0.08046072721481323
            ],
            "speed_kmh": 19.605098574434923,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.225667476654053,
                "transform": {
                    "location": {
                        "x": -823.1325073242188,
                        "y": 6356.26904296875,
                        "z": 362.2480773925781
                    },
                    "rotation": {
                        "roll": 0.004988529719412327,
                        "pitch": -0.37085193395614624,
                        "yaw": 90.39885711669922
                    }
                },
                "velocity": {
                    "x": -0.03166932985186577,
                    "y": 5.225022315979004,
                    "z": -0.07576395571231842
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.445860862731934,
                "transform": {
                    "location": {
                        "x": -823.0771484375,
                        "y": 6386.736328125,
                        "z": 361.80718994140625
                    },
                    "rotation": {
                        "roll": -0.011291464790701866,
                        "pitch": -0.7531375885009766,
                        "yaw": 90.46372985839844
                    }
                },
                "velocity": {
                    "x": -0.045353036373853683,
                    "y": 5.445077419281006,
                    "z": -0.08046072721481323
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.537024974822998,
                "transform": {
                    "location": {
                        "x": -823.1630859375,
                        "y": 6402.123046875,
                        "z": 361.5831604003906
                    },
                    "rotation": {
                        "roll": -0.03396602347493172,
                        "pitch": -0.763485312461853,
                        "yaw": 92.05223846435547
                    }
                },
                "velocity": {
                    "x": -0.21333885192871094,
                    "y": 5.532285690307617,
                    "z": -0.08334503322839737
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0027747461572289467,
        "expert_target_speed": 2.412699213250874,
        "target_point": [
            19.525412906062304,
            0.016901899401008558
        ],
        "target_point_next": [
            19.525412906062304,
            0.016901899401008558
        ]
    },
    "40": {
        "acceleration": [
            0.005737887695431709,
            1.3887619972229004,
            -0.023695379495620728
        ],
        "angular_velocity": [
            -0.1500874012708664,
            0.004568534903228283,
            -0.1829245537519455
        ],
        "forward_vector": [
            0.002949345391243696,
            0.9999271035194397,
            -0.011710734106600285
        ],
        "right_vector": [
            -0.9999956488609314,
            0.002948646666482091,
            -7.692631334066391e-05
        ],
        "location": [
            -823.0740356445312,
            6368.751953125,
            362.0661315917969
        ],
        "rotation": [
            0.004407855216413736,
            -0.6709909439086914,
            89.83100128173828
        ],
        "velocity": [
            0.007288300897926092,
            1.663960337638855,
            -0.023487277328968048
        ],
        "speed": 1.6639762992798879,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.575769424438477,
        "front_vehicle_info": {
            "id": 33544,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -823.0895385742188,
                6388.32568359375,
                361.7840576171875
            ],
            "velocity": [
                -0.04235305264592171,
                7.455508708953857,
                -0.1091793030500412
            ],
            "speed_kmh": 26.84314212563395,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.011492244899272919,
                "transform": {
                    "location": {
                        "x": -823.1364135742188,
                        "y": 6356.89111328125,
                        "z": 362.2449645996094
                    },
                    "rotation": {
                        "roll": -0.004638570826500654,
                        "pitch": -2.063140392303467,
                        "yaw": 90.36924743652344
                    }
                },
                "velocity": {
                    "x": 1.9782375602517277e-05,
                    "y": 0.011283934116363525,
                    "z": -0.0021781069226562977
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.456428527832031,
                "transform": {
                    "location": {
                        "x": -823.0895385742188,
                        "y": 6388.32568359375,
                        "z": 361.7840576171875
                    },
                    "rotation": {
                        "roll": -0.0009460818255320191,
                        "pitch": -0.5729708671569824,
                        "yaw": 90.39492797851562
                    }
                },
                "velocity": {
                    "x": -0.04235305264592171,
                    "y": 7.455508708953857,
                    "z": -0.1091793030500412
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.704780578613281,
                "transform": {
                    "location": {
                        "x": -823.2452392578125,
                        "y": 6403.84716796875,
                        "z": 361.5574035644531
                    },
                    "rotation": {
                        "roll": -0.14895634353160858,
                        "pitch": -0.5366206169128418,
                        "yaw": 92.79332733154297
                    }
                },
                "velocity": {
                    "x": -0.5025786757469177,
                    "y": 7.687496662139893,
                    "z": -0.11598445475101471
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0031914510764181614,
        "expert_target_speed": 2.7692261620514174,
        "target_point": [
            19.150402908540418,
            0.024081470724932587
        ],
        "target_point_next": [
            19.150402908540418,
            0.024081470724932587
        ]
    },
    "45": {
        "acceleration": [
            0.0024936534464359283,
            -0.10599851608276367,
            0.003917701542377472
        ],
        "angular_velocity": [
            -0.44046923518180847,
            -0.04528304561972618,
            -0.034325193613767624
        ],
        "forward_vector": [
            0.003397382562980056,
            0.9999146461486816,
            -0.01261594146490097
        ],
        "right_vector": [
            -0.9999942183494568,
            0.0033970046788454056,
            -5.13843224325683e-05
        ],
        "location": [
            -823.072021484375,
            6369.2021484375,
            362.0597229003906
        ],
        "rotation": [
            0.0029443390667438507,
            -0.7228593826293945,
            89.80532836914062
        ],
        "velocity": [
            0.009188628755509853,
            1.8548890352249146,
            -0.02589716762304306
        ],
        "speed": 1.8549117941012776,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "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": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9343676567077637,
                "transform": {
                    "location": {
                        "x": -823.1382446289062,
                        "y": 6357.21533203125,
                        "z": 362.23638916015625
                    },
                    "rotation": {
                        "roll": -0.005950902588665485,
                        "pitch": -1.0544718503952026,
                        "yaw": 90.3445053100586
                    }
                },
                "velocity": {
                    "x": -0.011120421811938286,
                    "y": 1.9341355562210083,
                    "z": -0.02782350964844227
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.33914041519165,
                "transform": {
                    "location": {
                        "x": -823.0980834960938,
                        "y": 6390.21875,
                        "z": 361.75604248046875
                    },
                    "rotation": {
                        "roll": 0.003208758542314172,
                        "pitch": -0.7887843251228333,
                        "yaw": 90.11907958984375
                    }
                },
                "velocity": {
                    "x": -0.030563542619347572,
                    "y": 7.338289737701416,
                    "z": -0.10748588293790817
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.807872295379639,
                "transform": {
                    "location": {
                        "x": -823.378173828125,
                        "y": 6405.654296875,
                        "z": 361.5301208496094
                    },
                    "rotation": {
                        "roll": -0.10488884150981903,
                        "pitch": -0.9176905155181885,
                        "yaw": 94.1646957397461
                    }
                },
                "velocity": {
                    "x": -0.5435008406639099,
                    "y": 6.785369873046875,
                    "z": -0.10240399092435837
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.004490974824875593,
        "expert_target_speed": 2.9727180224486665,
        "target_point": [
            18.700191136911467,
            0.032864198147873884
        ],
        "target_point_next": [
            18.700191136911467,
            0.032864198147873884
        ]
    },
    "50": {
        "acceleration": [
            0.00444190576672554,
            0.23104429244995117,
            -4.5299530029296875e-05
        ],
        "angular_velocity": [
            -0.12205668538808823,
            -0.02062303200364113,
            -0.18914556503295898
        ],
        "forward_vector": [
            0.0038757575675845146,
            0.9998897314071655,
            -0.014336928725242615
        ],
        "right_vector": [
            -0.9999924898147583,
            0.0038752949330955744,
            -6.005121031193994e-05
        ],
        "location": [
            -823.0696411132812,
            6369.654296875,
            362.053466796875
        ],
        "rotation": [
            0.0034410343505442142,
            -0.8214736580848694,
            89.77791595458984
        ],
        "velocity": [
            0.009793268516659737,
            1.8073318004608154,
            -0.02562006376683712
        ],
        "speed": 1.8073583333321515,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "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": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1423516273498535,
                "transform": {
                    "location": {
                        "x": -823.1415405273438,
                        "y": 6357.77685546875,
                        "z": 362.2272644042969
                    },
                    "rotation": {
                        "roll": -0.005706806667149067,
                        "pitch": -0.7812506556510925,
                        "yaw": 90.33918762207031
                    }
                },
                "velocity": {
                    "x": -0.01212379802018404,
                    "y": 2.14208984375,
                    "z": -0.031230049207806587
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.054748058319092,
                "transform": {
                    "location": {
                        "x": -823.1040649414062,
                        "y": 6391.8974609375,
                        "z": 361.7312316894531
                    },
                    "rotation": {
                        "roll": 0.003521896665915847,
                        "pitch": -0.972284197807312,
                        "yaw": 90.0443115234375
                    }
                },
                "velocity": {
                    "x": -0.017253516241908073,
                    "y": 6.054087162017822,
                    "z": -0.08779140561819077
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.307438850402832,
                "transform": {
                    "location": {
                        "x": -823.5050048828125,
                        "y": 6407.1640625,
                        "z": 361.5076904296875
                    },
                    "rotation": {
                        "roll": -0.04757698252797127,
                        "pitch": -1.1065930128097534,
                        "yaw": 94.72406005859375
                    }
                },
                "velocity": {
                    "x": -0.4623735249042511,
                    "y": 5.286717414855957,
                    "z": -0.0757286548614502
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.007015330716967583,
        "expert_target_speed": 2.932429409206952,
        "target_point": [
            18.24801774930298,
            0.04298629090604257
        ],
        "target_point_next": [
            18.24801774930298,
            0.04298629090604257
        ]
    },
    "55": {
        "acceleration": [
            0.005533099174499512,
            0.6836485862731934,
            -0.024367980659008026
        ],
        "angular_velocity": [
            0.14250817894935608,
            -0.02498394437134266,
            -0.017815226688981056
        ],
        "forward_vector": [
            0.004329793620854616,
            0.9998921155929565,
            -0.014035479165613651
        ],
        "right_vector": [
            -0.9999906420707703,
            0.0043291328474879265,
            -7.747019844828174e-05
        ],
        "location": [
            -823.0670166015625,
            6370.12548828125,
            362.046630859375
        ],
        "rotation": [
            0.004439152777194977,
            -0.8042001128196716,
            89.75189971923828
        ],
        "velocity": [
            0.011553087271749973,
            1.9671332836151123,
            -0.028760327026247978
        ],
        "speed": 1.9671672092966277,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "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": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6295391917228699,
                "transform": {
                    "location": {
                        "x": -823.142333984375,
                        "y": 6357.9296875,
                        "z": 362.2268371582031
                    },
                    "rotation": {
                        "roll": -0.0049438802525401115,
                        "pitch": -1.275291919708252,
                        "yaw": 90.37947082519531
                    }
                },
                "velocity": {
                    "x": -0.003484633518382907,
                    "y": 0.6294533610343933,
                    "z": -0.009795474819839
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.82952618598938,
                "transform": {
                    "location": {
                        "x": -823.1060791015625,
                        "y": 6392.87158203125,
                        "z": 361.7162780761719
                    },
                    "rotation": {
                        "roll": 0.0026498115621507168,
                        "pitch": -1.2778053283691406,
                        "yaw": 90.00953674316406
                    }
                },
                "velocity": {
                    "x": -0.006294385064393282,
                    "y": 2.829225778579712,
                    "z": -0.04073850065469742
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.0233869552612305,
                "transform": {
                    "location": {
                        "x": -823.629150390625,
                        "y": 6408.42919921875,
                        "z": 361.4894714355469
                    },
                    "rotation": {
                        "roll": -0.13342276215553284,
                        "pitch": -0.9246231317520142,
                        "yaw": 95.45645141601562
                    }
                },
                "velocity": {
                    "x": -0.6338947415351868,
                    "y": 4.982637405395508,
                    "z": -0.07692179828882217
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.007165241055190563,
        "expert_target_speed": 3.08403805436807,
        "target_point": [
            17.776799665513444,
            0.05127077984269613
        ],
        "target_point_next": [
            17.776799665513444,
            0.05127077984269613
        ]
    },
    "60": {
        "acceleration": [
            0.011324137449264526,
            1.2415122985839844,
            -0.01799657940864563
        ],
        "angular_velocity": [
            0.19051919877529144,
            0.00040658717625774443,
            -0.19874614477157593
        ],
        "forward_vector": [
            0.004868469666689634,
            0.9998953938484192,
            -0.013619954697787762
        ],
        "right_vector": [
            -0.9999881386756897,
            0.004867956042289734,
            -7.08857478457503e-05
        ],
        "location": [
            -823.0640258789062,
            6370.6396484375,
            362.0389099121094
        ],
        "rotation": [
            0.004061831161379814,
            -0.7803900241851807,
            89.72103118896484
        ],
        "velocity": [
            0.013819914311170578,
            2.1745219230651855,
            -0.03165655955672264
        ],
        "speed": 2.1745658380289803,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "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": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.409642219543457,
                "transform": {
                    "location": {
                        "x": -823.1438598632812,
                        "y": 6358.1884765625,
                        "z": 362.22113037109375
                    },
                    "rotation": {
                        "roll": -0.005767845548689365,
                        "pitch": -0.7729793190956116,
                        "yaw": 90.34503173828125
                    }
                },
                "velocity": {
                    "x": -0.008525468409061432,
                    "y": 1.4094685316085815,
                    "z": -0.020415905863046646
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.183539390563965,
                "transform": {
                    "location": {
                        "x": -823.1077880859375,
                        "y": 6393.74560546875,
                        "z": 361.7042236328125
                    },
                    "rotation": {
                        "roll": -0.0006408183253370225,
                        "pitch": -0.7920833230018616,
                        "yaw": 90.06423950195312
                    }
                },
                "velocity": {
                    "x": -0.008061593398451805,
                    "y": 4.183095455169678,
                    "z": -0.060411419719457626
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.347414970397949,
                "transform": {
                    "location": {
                        "x": -823.8150634765625,
                        "y": 6409.69677734375,
                        "z": 361.4720153808594
                    },
                    "rotation": {
                        "roll": -0.1282043308019638,
                        "pitch": -0.745084822177887,
                        "yaw": 97.5027084350586
                    }
                },
                "velocity": {
                    "x": -0.8221141695976257,
                    "y": 5.283346652984619,
                    "z": -0.07226534187793732
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.01214601006358862,
        "expert_target_speed": 3.294673680283698,
        "target_point": [
            17.26260040499938,
            0.06146922115745236
        ],
        "target_point_next": [
            17.26260040499938,
            0.06146922115745236
        ]
    },
    "65": {
        "acceleration": [
            0.020808391273021698,
            2.2196388244628906,
            -0.026369169354438782
        ],
        "angular_velocity": [
            0.37867510318756104,
            0.016052693128585815,
            -0.08488301187753677
        ],
        "forward_vector": [
            0.005458466242998838,
            0.9999092221260071,
            -0.012318895198404789
        ],
        "right_vector": [
            -0.9999850988388062,
            0.0054575907997787,
            -0.00010467832180438563
        ],
        "location": [
            -823.0601196289062,
            6371.23779296875,
            362.0298767089844
        ],
        "rotation": [
            0.005998081527650356,
            -0.7058385610580444,
            89.68722534179688
        ],
        "velocity": [
            0.01823747158050537,
            2.6294140815734863,
            -0.03829033672809601
        ],
        "speed": 2.6294773278631993,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "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": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2310221195220947,
                "transform": {
                    "location": {
                        "x": -823.1466064453125,
                        "y": 6358.67236328125,
                        "z": 362.21331787109375
                    },
                    "rotation": {
                        "roll": -0.010223404504358768,
                        "pitch": -0.5547820925712585,
                        "yaw": 90.37551879882812
                    }
                },
                "velocity": {
                    "x": -0.013599496334791183,
                    "y": 2.2307441234588623,
                    "z": -0.032494500279426575
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.867227554321289,
                "transform": {
                    "location": {
                        "x": -823.1102294921875,
                        "y": 6394.9375,
                        "z": 361.6869812011719
                    },
                    "rotation": {
                        "roll": -0.0031433217227458954,
                        "pitch": -0.7383434176445007,
                        "yaw": 90.10254669189453
                    }
                },
                "velocity": {
                    "x": -0.010419830679893494,
                    "y": 4.866647243499756,
                    "z": -0.07442217320203781
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.558361053466797,
                "transform": {
                    "location": {
                        "x": -823.99560546875,
                        "y": 6410.81689453125,
                        "z": 361.4568786621094
                    },
                    "rotation": {
                        "roll": -0.0695495754480362,
                        "pitch": -0.80694580078125,
                        "yaw": 98.77896881103516
                    }
                },
                "velocity": {
                    "x": -0.7504061460494995,
                    "y": 4.495806694030762,
                    "z": -0.057172421365976334
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.015356588177382946,
        "expert_target_speed": 3.7462649822899365,
        "target_point": [
            16.6644034146998,
            0.0724816402867792
        ],
        "target_point_next": [
            16.6644034146998,
            0.0724816402867792
        ]
    },
    "70": {
        "acceleration": [
            0.030052848160266876,
            3.092479705810547,
            -0.06041236221790314
        ],
        "angular_velocity": [
            0.38944825530052185,
            -0.0546000637114048,
            -0.2334938496351242
        ],
        "forward_vector": [
            0.006192135624587536,
            0.9999249577522278,
            -0.01057092472910881
        ],
        "right_vector": [
            -0.9999808073043823,
            0.006191008724272251,
            -0.00013931840658187866
        ],
        "location": [
            -823.0548095703125,
            6371.98291015625,
            362.0186767578125
        ],
        "rotation": [
            0.007982802577316761,
            -0.6056806445121765,
            89.64519500732422
        ],
        "velocity": [
            0.025303546339273453,
            3.3285069465637207,
            -0.04882454872131348
        ],
        "speed": 3.3286031248528696,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "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": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.7981661558151245,
                "transform": {
                    "location": {
                        "x": -823.148681640625,
                        "y": 6359.154296875,
                        "z": 362.2073059082031
                    },
                    "rotation": {
                        "roll": -0.01412962656468153,
                        "pitch": -0.8535140752792358,
                        "yaw": 90.5170669555664
                    }
                },
                "velocity": {
                    "x": -0.010179848410189152,
                    "y": 1.7979449033737183,
                    "z": -0.026303419843316078
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.429541110992432,
                "transform": {
                    "location": {
                        "x": -823.1127319335938,
                        "y": 6396.05419921875,
                        "z": 361.6703186035156
                    },
                    "rotation": {
                        "roll": -0.0027466139290481806,
                        "pitch": -0.8714911341667175,
                        "yaw": 90.11884307861328
                    }
                },
                "velocity": {
                    "x": -0.009830054827034473,
                    "y": 4.42905330657959,
                    "z": -0.06498295813798904
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.20265007019043,
                "transform": {
                    "location": {
                        "x": -824.2057495117188,
                        "y": 6412.0625,
                        "z": 361.44195556640625
                    },
                    "rotation": {
                        "roll": -0.034240759909152985,
                        "pitch": -0.5995198488235474,
                        "yaw": 99.33187866210938
                    }
                },
                "velocity": {
                    "x": -0.8744415640830994,
                    "y": 5.12825345993042,
                    "z": -0.0627499595284462
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.022449269890785217,
        "expert_target_speed": 4.42423278237343,
        "target_point": [
            15.91920972887324,
            0.08544800236309308
        ],
        "target_point_next": [
            15.91920972887324,
            0.08544800236309308
        ]
    },
    "75": {
        "acceleration": [
            0.04054658114910126,
            3.164091110229492,
            -0.04651851952075958
        ],
        "angular_velocity": [
            0.17715877294540405,
            -0.022504761815071106,
            -0.15139132738113403
        ],
        "forward_vector": [
            0.007085154298692942,
            0.9999319314956665,
            -0.009273515082895756
        ],
        "right_vector": [
            -0.9999749064445496,
            0.007083836477249861,
            -0.00017495312204118818
        ],
        "location": [
            -823.0474853515625,
            6372.92041015625,
            362.004638671875
        ],
        "rotation": [
            0.010024506598711014,
            -0.5313408970832825,
            89.59403228759766
        ],
        "velocity": [
            0.034999337047338486,
            4.131305694580078,
            -0.06073412671685219
        ],
        "speed": 4.131453944516813,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "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": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2439701557159424,
                "transform": {
                    "location": {
                        "x": -823.15185546875,
                        "y": 6359.65478515625,
                        "z": 362.19964599609375
                    },
                    "rotation": {
                        "roll": -0.01046752743422985,
                        "pitch": -0.7526800036430359,
                        "yaw": 90.4972915649414
                    }
                },
                "velocity": {
                    "x": -0.0141046904027462,
                    "y": 2.2436914443969727,
                    "z": -0.03243833780288696
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.991950511932373,
                "transform": {
                    "location": {
                        "x": -823.115478515625,
                        "y": 6397.2734375,
                        "z": 361.65289306640625
                    },
                    "rotation": {
                        "roll": -0.002594033954665065,
                        "pitch": -0.7843037247657776,
                        "yaw": 90.10511779785156
                    }
                },
                "velocity": {
                    "x": -0.010655802674591541,
                    "y": 4.991415977478027,
                    "z": -0.07225469499826431
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.076738357543945,
                "transform": {
                    "location": {
                        "x": -824.442138671875,
                        "y": 6413.3115234375,
                        "z": 361.42718505859375
                    },
                    "rotation": {
                        "roll": -0.1238403245806694,
                        "pitch": -0.635740339756012,
                        "yaw": 100.5214614868164
                    }
                },
                "velocity": {
                    "x": -1.0426055192947388,
                    "y": 4.968197345733643,
                    "z": -0.05710521712899208
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03459154814481735,
        "expert_target_speed": 5.19239448962974,
        "target_point": [
            14.981599991127768,
            0.10015111407627914
        ],
        "target_point_next": [
            14.981599991127768,
            0.10015111407627914
        ]
    },
    "80": {
        "acceleration": [
            0.0421404093503952,
            2.6130199432373047,
            -0.03654882311820984
        ],
        "angular_velocity": [
            -0.11092844605445862,
            -0.016545351594686508,
            -0.26467588543891907
        ],
        "forward_vector": [
            0.008173471316695213,
            0.999925434589386,
            -0.009078020229935646
        ],
        "right_vector": [
            -0.9999666213989258,
            0.008171710185706615,
            -0.00023102108389139175
        ],
        "location": [
            -823.0374755859375,
            6374.05029296875,
            361.9880065917969
        ],
        "rotation": [
            0.013237078674137592,
            -0.5201393961906433,
            89.53166961669922
        ],
        "velocity": [
            0.04611913114786148,
            4.858264446258545,
            -0.07094117254018784
        ],
        "speed": 4.858483344011553,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "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": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.274243116378784,
                "transform": {
                    "location": {
                        "x": -823.1553955078125,
                        "y": 6360.3330078125,
                        "z": 362.18896484375
                    },
                    "rotation": {
                        "roll": 0.0033520942088216543,
                        "pitch": -0.5463809370994568,
                        "yaw": 90.41341400146484
                    }
                },
                "velocity": {
                    "x": -0.009508608840405941,
                    "y": 3.273871660232544,
                    "z": -0.04838529974222183
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.808465957641602,
                "transform": {
                    "location": {
                        "x": -823.125244140625,
                        "y": 6398.46728515625,
                        "z": 361.6349182128906
                    },
                    "rotation": {
                        "roll": -0.04357907548546791,
                        "pitch": -0.8539375066757202,
                        "yaw": 90.4181137084961
                    }
                },
                "velocity": {
                    "x": -0.09335784614086151,
                    "y": 4.807058334350586,
                    "z": -0.0694284439086914
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.273670196533203,
                "transform": {
                    "location": {
                        "x": -824.7174072265625,
                        "y": 6414.5810546875,
                        "z": 361.4131164550781
                    },
                    "rotation": {
                        "roll": -0.0766906663775444,
                        "pitch": -0.5657923221588135,
                        "yaw": 101.75743865966797
                    }
                },
                "velocity": {
                    "x": -1.1424287557601929,
                    "y": 5.1481242179870605,
                    "z": -0.057169072329998016
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04309079051017761,
        "expert_target_speed": 5.865900034539908,
        "target_point": [
            13.851553642699098,
            0.11742978966350712
        ],
        "target_point_next": [
            13.851553642699098,
            0.11742978966350712
        ]
    },
    "85": {
        "acceleration": [
            0.13016879558563232,
            2.06024169921875,
            -0.027402788400650024
        ],
        "angular_velocity": [
            -0.4066801071166992,
            -0.1715822070837021,
            -1.9700336456298828
        ],
        "forward_vector": [
            0.01051176805049181,
            0.9998777508735657,
            -0.011577465571463108
        ],
        "right_vector": [
            -0.9999447464942932,
            0.010508798994123936,
            -0.00031717258389107883
        ],
        "location": [
            -823.0252685546875,
            6375.3037109375,
            361.9704895019531
        ],
        "rotation": [
            0.01817386783659458,
            -0.663354754447937,
            89.39766693115234
        ],
        "velocity": [
            0.05732731148600578,
            5.082571506500244,
            -0.07344792038202286
        ],
        "speed": 5.082894799160256,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "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": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.660478115081787,
                "transform": {
                    "location": {
                        "x": -823.1585693359375,
                        "y": 6361.33837890625,
                        "z": 362.1734313964844
                    },
                    "rotation": {
                        "roll": 0.005763578694313765,
                        "pitch": -0.3376777172088623,
                        "yaw": 90.2850112915039
                    }
                },
                "velocity": {
                    "x": -0.011138270609080791,
                    "y": 4.659958839416504,
                    "z": -0.06869440525770187
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.638695240020752,
                "transform": {
                    "location": {
                        "x": -823.155517578125,
                        "y": 6399.7861328125,
                        "z": 361.61614990234375
                    },
                    "rotation": {
                        "roll": -0.04315185546875,
                        "pitch": -0.7455356121063232,
                        "yaw": 91.14466094970703
                    }
                },
                "velocity": {
                    "x": -0.1404750496149063,
                    "y": 5.63633918762207,
                    "z": -0.08266054838895798
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.505078315734863,
                "transform": {
                    "location": {
                        "x": -825.0842895507812,
                        "y": 6416.2080078125,
                        "z": 361.3966369628906
                    },
                    "rotation": {
                        "roll": -0.05145261436700821,
                        "pitch": -0.19628596305847168,
                        "yaw": 102.53467559814453
                    }
                },
                "velocity": {
                    "x": -1.6699708700180054,
                    "y": 7.316572189331055,
                    "z": -0.07187358289957047
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05967771261930466,
        "expert_target_speed": 6.075774939498338,
        "target_point": [
            12.597764745523712,
            0.14879424011686537
        ],
        "target_point_next": [
            12.597764745523712,
            0.14879424011686537
        ]
    },
    "90": {
        "acceleration": [
            0.060881637036800385,
            3.6257171630859375,
            -0.04876941442489624
        ],
        "angular_velocity": [
            0.25986456871032715,
            -0.022764354944229126,
            3.0276262760162354
        ],
        "forward_vector": [
            0.007170643657445908,
            0.9998845458030701,
            -0.013397411443293095
        ],
        "right_vector": [
            -0.9999743103981018,
            0.007173706311732531,
            0.00018054664542432874
        ],
        "location": [
            -823.015869140625,
            6376.57275390625,
            361.9522705078125
        ],
        "rotation": [
            -0.010345489718019962,
            -0.767638087272644,
            89.589111328125
        ],
        "velocity": [
            0.03132093697786331,
            5.176453113555908,
            -0.07554186135530472
        ],
        "speed": 5.176547868795944,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "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": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.3800554275512695,
                "transform": {
                    "location": {
                        "x": -823.161865234375,
                        "y": 6362.63720703125,
                        "z": 362.1549987792969
                    },
                    "rotation": {
                        "roll": 0.00561920739710331,
                        "pitch": -0.41827392578125,
                        "yaw": 90.16825103759766
                    }
                },
                "velocity": {
                    "x": -0.00990254059433937,
                    "y": 5.379490852355957,
                    "z": -0.07732100039720535
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.3750319480896,
                "transform": {
                    "location": {
                        "x": -823.1943359375,
                        "y": 6401.228515625,
                        "z": 361.59478759765625
                    },
                    "rotation": {
                        "roll": -0.02871698886156082,
                        "pitch": -0.7479808330535889,
                        "yaw": 91.43276977539062
                    }
                },
                "velocity": {
                    "x": -0.17576509714126587,
                    "y": 6.371899127960205,
                    "z": -0.09508629888296127
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.6358160972595215,
                "transform": {
                    "location": {
                        "x": -825.4799194335938,
                        "y": 6417.92919921875,
                        "z": 361.3807678222656
                    },
                    "rotation": {
                        "roll": -0.019714346155524254,
                        "pitch": -0.5224547982215881,
                        "yaw": 102.92893981933594
                    }
                },
                "velocity": {
                    "x": -1.4969505071640015,
                    "y": 6.464521884918213,
                    "z": -0.056123536080121994
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.056919705122709274,
        "expert_target_speed": 6.166469440177999,
        "target_point": [
            11.329114166658208,
            0.1069656067387012
        ],
        "target_point_next": [
            11.329114166658208,
            0.1069656067387012
        ]
    },
    "95": {
        "acceleration": [
            0.24986632168293,
            -0.4005718231201172,
            0.014661699533462524
        ],
        "angular_velocity": [
            -0.24491651356220245,
            -0.29329541325569153,
            -4.5887579917907715
        ],
        "forward_vector": [
            0.00838029570877552,
            0.9998539686203003,
            -0.01489607896655798
        ],
        "right_vector": [
            -0.9999648332595825,
            0.008373558521270752,
            -0.0005145817995071411
        ],
        "location": [
            -823.0048828125,
            6377.84130859375,
            361.9339294433594
        ],
        "rotation": [
            0.029486635699868202,
            -0.8535140752792358,
            89.51978302001953
        ],
        "velocity": [
            0.06476616859436035,
            5.005590915679932,
            -0.0741179957985878
        ],
        "speed": 5.006009895289046,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "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": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.6950459480285645,
                "transform": {
                    "location": {
                        "x": -823.1646118164062,
                        "y": 6364.08056640625,
                        "z": 362.1336975097656
                    },
                    "rotation": {
                        "roll": -0.0005187983624637127,
                        "pitch": -0.3703260123729706,
                        "yaw": 90.1902847290039
                    }
                },
                "velocity": {
                    "x": -0.012462981976568699,
                    "y": 6.694308280944824,
                    "z": -0.09861302375793457
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047784805297852,
                "transform": {
                    "location": {
                        "x": -823.2481079101562,
                        "y": 6403.08837890625,
                        "z": 361.56732177734375
                    },
                    "rotation": {
                        "roll": -0.019348185509443283,
                        "pitch": -0.6444966197013855,
                        "yaw": 91.65686798095703
                    }
                },
                "velocity": {
                    "x": -0.23877309262752533,
                    "y": 8.04335880279541,
                    "z": -0.1192271038889885
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.401449680328369,
                "transform": {
                    "location": {
                        "x": -825.8228759765625,
                        "y": 6419.40380859375,
                        "z": 361.3689270019531
                    },
                    "rotation": {
                        "roll": 0.0011848458088934422,
                        "pitch": -0.6438272595405579,
                        "yaw": 103.1268310546875
                    }
                },
                "velocity": {
                    "x": -1.2289881706237793,
                    "y": 5.259620189666748,
                    "z": -0.04055832326412201
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06932762265205383,
        "expert_target_speed": 6.0252906619694,
        "target_point": [
            10.06037406515156,
            0.1210460434282742
        ],
        "target_point_next": [
            10.06037406515156,
            0.1210460434282742
        ]
    },
    "100": {
        "acceleration": [
            0.059631019830703735,
            -0.7768821716308594,
            0.0028339028358459473
        ],
        "angular_velocity": [
            -0.5181186199188232,
            -0.047822006046772,
            -4.851456642150879
        ],
        "forward_vector": [
            0.015298704616725445,
            0.9997910857200623,
            -0.013554037548601627
        ],
        "right_vector": [
            -0.9998826384544373,
            0.015287038870155811,
            -0.0009638317278586328
        ],
        "location": [
            -822.9833984375,
            6379.16796875,
            361.9142761230469
        ],
        "rotation": [
            0.055228572338819504,
            -0.7766129374504089,
            89.12333679199219
        ],
        "velocity": [
            0.10449927300214767,
            5.315517902374268,
            -0.07882711291313171
        ],
        "speed": 5.3165449935573115,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "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": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.811003684997559,
                "transform": {
                    "location": {
                        "x": -823.1675415039062,
                        "y": 6365.9208984375,
                        "z": 362.1063537597656
                    },
                    "rotation": {
                        "roll": 0.0123906210064888,
                        "pitch": -0.2833572030067444,
                        "yaw": 90.07723236083984
                    }
                },
                "velocity": {
                    "x": -0.003739765612408519,
                    "y": 7.8101630210876465,
                    "z": -0.11454139649868011
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.7326741218566895,
                "transform": {
                    "location": {
                        "x": -823.3599243164062,
                        "y": 6405.0986328125,
                        "z": 361.5368347167969
                    },
                    "rotation": {
                        "roll": -0.1011963039636612,
                        "pitch": -0.852994978427887,
                        "yaw": 93.4744873046875
                    }
                },
                "velocity": {
                    "x": -0.5214704275131226,
                    "y": 7.71419095993042,
                    "z": -0.11651343107223511
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.051318645477295,
                "transform": {
                    "location": {
                        "x": -826.1368408203125,
                        "y": 6420.6474609375,
                        "z": 361.3599548339844
                    },
                    "rotation": {
                        "roll": -0.1300658881664276,
                        "pitch": -0.49642494320869446,
                        "yaw": 104.05741119384766
                    }
                },
                "velocity": {
                    "x": -1.374904751777649,
                    "y": 4.860485553741455,
                    "z": -0.033745791763067245
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11276537925004959,
        "expert_target_speed": 6.309256933430652,
        "target_point": [
            8.73246159394239,
            0.191863485977471
        ],
        "target_point_next": [
            8.73246159394239,
            0.191863485977471
        ]
    },
    "105": {
        "acceleration": [
            0.0774131715297699,
            0.0028324127197265625,
            0.009349286556243896
        ],
        "angular_velocity": [
            -0.06141023337841034,
            0.04198966547846794,
            2.503342628479004
        ],
        "forward_vector": [
            0.01932056061923504,
            0.9997026920318604,
            -0.014875339344143867
        ],
        "right_vector": [
            -0.9998131990432739,
            0.019309647381305695,
            -0.0008769030100665987
        ],
        "location": [
            -822.9561767578125,
            6380.482421875,
            361.8951721191406
        ],
        "rotation": [
            0.0502484068274498,
            -0.8523256182670593,
            88.892822265625
        ],
        "velocity": [
            0.12274566292762756,
            5.243472576141357,
            -0.07589542865753174
        ],
        "speed": 5.24490907018549,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -1,
            "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": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.930739402770996,
                "transform": {
                    "location": {
                        "x": -823.1680908203125,
                        "y": 6367.77880859375,
                        "z": 362.08123779296875
                    },
                    "rotation": {
                        "roll": 0.008830356411635876,
                        "pitch": -0.8402907848358154,
                        "yaw": 90.02639770507812
                    }
                },
                "velocity": {
                    "x": 0.0003491049283184111,
                    "y": 6.92998743057251,
                    "z": -0.10209628939628601
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.433326244354248,
                "transform": {
                    "location": {
                        "x": -823.4949951171875,
                        "y": 6406.87744140625,
                        "z": 361.5100402832031
                    },
                    "rotation": {
                        "roll": -0.0635375827550888,
                        "pitch": -0.9937719702720642,
                        "yaw": 94.48806762695312
                    }
                },
                "velocity": {
                    "x": -0.5231131911277771,
                    "y": 6.411294937133789,
                    "z": -0.09661068767309189
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.924539566040039,
                "transform": {
                    "location": {
                        "x": -826.5118408203125,
                        "y": 6421.91357421875,
                        "z": 361.3517761230469
                    },
                    "rotation": {
                        "roll": -0.09652707725763321,
                        "pitch": -0.25192469358444214,
                        "yaw": 105.80652618408203
                    }
                },
                "velocity": {
                    "x": -1.7262704372406006,
                    "y": 5.667354583740234,
                    "z": -0.035357289016246796
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1431383192539215,
        "expert_target_speed": 6.240744041828325,
        "target_point": [
            7.416884297396224,
            0.2288438750018103
        ],
        "target_point_next": [
            57.157960142550415,
            11.428160313725831
        ]
    },
    "110": {
        "acceleration": [
            0.04845470190048218,
            0.03466606140136719,
            0.004107952117919922
        ],
        "angular_velocity": [
            0.006051795557141304,
            -0.10292170196771622,
            -4.3100128173828125
        ],
        "forward_vector": [
            0.02402486838400364,
            0.9996020197868347,
            -0.01478629931807518
        ],
        "right_vector": [
            -0.9997111558914185,
            0.024014003574848175,
            -0.0009119654423557222
        ],
        "location": [
            -822.9235229492188,
            6381.7978515625,
            361.87591552734375
        ],
        "rotation": [
            0.052257489413022995,
            -0.8472234606742859,
            88.6231918334961
        ],
        "velocity": [
            0.14391732215881348,
            5.2740159034729,
            -0.0761868804693222
        ],
        "speed": 5.2759791456849445,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -1,
            "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": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.630338191986084,
                "transform": {
                    "location": {
                        "x": -823.1013793945312,
                        "y": 6354.03662109375,
                        "z": 362.4811096191406
                    },
                    "rotation": {
                        "roll": -2.668325649324288e-08,
                        "pitch": -0.8346558809280396,
                        "yaw": 89.89860534667969
                    }
                },
                "velocity": {
                    "x": 0.009289596229791641,
                    "y": 5.249133586883545,
                    "z": -2.036472797393799
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.82909893989563,
                "transform": {
                    "location": {
                        "x": -823.1677856445312,
                        "y": 6369.091796875,
                        "z": 362.0657653808594
                    },
                    "rotation": {
                        "roll": 0.0009924344485625625,
                        "pitch": -1.9299860000610352,
                        "yaw": 90.0569839477539
                    }
                },
                "velocity": {
                    "x": 0.00017614402167964727,
                    "y": 2.8287675380706787,
                    "z": -0.043303221464157104
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.6853203773498535,
                "transform": {
                    "location": {
                        "x": -823.6071166992188,
                        "y": 6408.13916015625,
                        "z": 361.4912414550781
                    },
                    "rotation": {
                        "roll": -0.07473749667406082,
                        "pitch": -1.0610015392303467,
                        "yaw": 95.13555145263672
                    }
                },
                "velocity": {
                    "x": -0.5551096200942993,
                    "y": 4.651819229125977,
                    "z": -0.06824212521314621
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.185349464416504,
                "transform": {
                    "location": {
                        "x": -827.052001953125,
                        "y": 6423.65087890625,
                        "z": 361.3421325683594
                    },
                    "rotation": {
                        "roll": -0.07623291015625,
                        "pitch": 0.10830630362033844,
                        "yaw": 107.06595611572266
                    }
                },
                "velocity": {
                    "x": -2.462224245071411,
                    "y": 7.8061347007751465,
                    "z": -0.04074826464056969
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.18347986042499542,
        "expert_target_speed": 6.258819443554251,
        "target_point": [
            55.7877911744978,
            11.697671553040228
        ],
        "target_point_next": [
            85.23613785715925,
            52.794987625456706
        ]
    },
    "115": {
        "acceleration": [
            0.007617771625518799,
            -1.2519645690917969,
            -0.0048319995403289795
        ],
        "angular_velocity": [
            -0.34866198897361755,
            0.08436944335699081,
            2.9077770709991455
        ],
        "forward_vector": [
            0.026382438838481903,
            0.9995299577713013,
            -0.015616138465702534
        ],
        "right_vector": [
            -0.9996518492698669,
            0.02637399546802044,
            -0.000746469886507839
        ],
        "location": [
            -822.8875732421875,
            6383.09912109375,
            361.857177734375
        ],
        "rotation": [
            0.04277479276061058,
            -0.8947752118110657,
            88.488037109375
        ],
        "velocity": [
            0.1486838459968567,
            5.090157985687256,
            -0.07610110938549042
        ],
        "speed": 5.0923290550902305,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -1,
            "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": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.0684814453125,
                "transform": {
                    "location": {
                        "x": -823.1085205078125,
                        "y": 6355.31787109375,
                        "z": 362.2245178222656
                    },
                    "rotation": {
                        "roll": -0.01721194013953209,
                        "pitch": -0.8559865951538086,
                        "yaw": 90.24555969238281
                    }
                },
                "velocity": {
                    "x": -0.03426945209503174,
                    "y": 5.067843437194824,
                    "z": 0.07273375988006592
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8053763508796692,
                "transform": {
                    "location": {
                        "x": -823.1677856445312,
                        "y": 6369.3173828125,
                        "z": 362.0631408691406
                    },
                    "rotation": {
                        "roll": -0.00738535076379776,
                        "pitch": -2.155395746231079,
                        "yaw": 90.05546569824219
                    }
                },
                "velocity": {
                    "x": 0.002224417869001627,
                    "y": 0.8053114414215088,
                    "z": -0.009982957504689693
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.3653764724731445,
                "transform": {
                    "location": {
                        "x": -823.7893676757812,
                        "y": 6409.41357421875,
                        "z": 361.47418212890625
                    },
                    "rotation": {
                        "roll": -0.0966797024011612,
                        "pitch": -0.7585129737854004,
                        "yaw": 97.34361267089844
                    }
                },
                "velocity": {
                    "x": -0.794837474822998,
                    "y": 5.305647373199463,
                    "z": -0.07485121488571167
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.07685375213623,
                "transform": {
                    "location": {
                        "x": -827.7471923828125,
                        "y": 6425.7119140625,
                        "z": 361.3330383300781
                    },
                    "rotation": {
                        "roll": -0.265625,
                        "pitch": 0.05354867875576019,
                        "yaw": 109.04318237304688
                    }
                },
                "velocity": {
                    "x": -3.128021717071533,
                    "y": 8.52077865600586,
                    "z": -0.033033452928066254
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2192959040403366,
        "expert_target_speed": 6.197289237690621,
        "target_point": [
            54.458291261680024,
            11.830776947411199
        ],
        "target_point_next": [
            83.80966016602441,
            52.99740972371931
        ]
    },
    "120": {
        "acceleration": [
            0.03181755542755127,
            0.6255149841308594,
            0.012206584215164185
        ],
        "angular_velocity": [
            0.08219923079013824,
            0.05906955525279045,
            -0.3945179581642151
        ],
        "forward_vector": [
            0.029199829325079918,
            0.9994515776634216,
            -0.015616138465702534
        ],
        "right_vector": [
            -0.9995735287666321,
            0.029192432761192322,
            -0.0007014944567345083
        ],
        "location": [
            -822.849853515625,
            6384.3603515625,
            361.8385009765625
        ],
        "rotation": [
            0.04019757732748985,
            -0.8947752118110657,
            88.32653045654297
        ],
        "velocity": [
            0.15560448169708252,
            5.025628566741943,
            -0.07276856899261475
        ],
        "speed": 5.0280369176823765,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -1,
            "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": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.760771751403809,
                "transform": {
                    "location": {
                        "x": -823.1168823242188,
                        "y": 6356.5849609375,
                        "z": 362.23785400390625
                    },
                    "rotation": {
                        "roll": -0.009704525582492352,
                        "pitch": -0.8915377259254456,
                        "yaw": 90.31623840332031
                    }
                },
                "velocity": {
                    "x": -0.03222518786787987,
                    "y": 4.76065731048584,
                    "z": -0.007236337289214134
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9162399768829346,
                "transform": {
                    "location": {
                        "x": -823.1678466796875,
                        "y": 6369.67919921875,
                        "z": 362.0538330078125
                    },
                    "rotation": {
                        "roll": -0.005126905161887407,
                        "pitch": -1.0088735818862915,
                        "yaw": 90.02108001708984
                    }
                },
                "velocity": {
                    "x": 0.0005951764178462327,
                    "y": 1.9160441160202026,
                    "z": -0.02739378809928894
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.21580696105957,
                "transform": {
                    "location": {
                        "x": -824.0067138671875,
                        "y": 6410.7900390625,
                        "z": 361.4559020996094
                    },
                    "rotation": {
                        "roll": -0.06402590125799179,
                        "pitch": -0.6336365938186646,
                        "yaw": 98.65835571289062
                    }
                },
                "velocity": {
                    "x": -0.9961172938346863,
                    "y": 6.1349310874938965,
                    "z": -0.0814349427819252
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.88640022277832,
                "transform": {
                    "location": {
                        "x": -828.6039428710938,
                        "y": 6427.9267578125,
                        "z": 361.3263854980469
                    },
                    "rotation": {
                        "roll": -0.2251892238855362,
                        "pitch": 0.0922895073890686,
                        "yaw": 111.4932632446289
                    }
                },
                "velocity": {
                    "x": -3.6753921508789062,
                    "y": 9.177797317504883,
                    "z": -0.021104244515299797
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2606493830680847,
        "expert_target_speed": 6.140006287221609,
        "target_point": [
            53.16288913984314,
            11.985303090621082
        ],
        "target_point_next": [
            82.3979526240273,
            53.23461306998971
        ]
    },
    "125": {
        "acceleration": [
            -0.08281499147415161,
            -3.5422801971435547,
            0.035903751850128174
        ],
        "angular_velocity": [
            -0.863784670829773,
            -0.024381281808018684,
            -0.306991308927536
        ],
        "forward_vector": [
            0.030768942087888718,
            0.999374270439148,
            -0.0174449160695076
        ],
        "right_vector": [
            -0.9995265007019043,
            0.030762087553739548,
            -0.0006611234857700765
        ],
        "location": [
            -822.8121948242188,
            6385.5625,
            361.8211364746094
        ],
        "rotation": [
            0.037885356694459915,
            -0.9995707869529724,
            88.23652648925781
        ],
        "velocity": [
            0.14495497941970825,
            4.468837738037109,
            -0.06569000333547592
        ],
        "speed": 4.471188060791359,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -1,
            "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": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.325681209564209,
                "transform": {
                    "location": {
                        "x": -823.125732421875,
                        "y": 6357.83984375,
                        "z": 362.228515625
                    },
                    "rotation": {
                        "roll": -0.008117657154798508,
                        "pitch": -0.792902946472168,
                        "yaw": 90.36279296875
                    }
                },
                "velocity": {
                    "x": -0.03816789388656616,
                    "y": 5.325165271759033,
                    "z": -0.06353091448545456
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.1221840381622314,
                "transform": {
                    "location": {
                        "x": -823.1675415039062,
                        "y": 6370.3134765625,
                        "z": 362.0428466796875
                    },
                    "rotation": {
                        "roll": -0.0013732764637097716,
                        "pitch": -0.5432049036026001,
                        "yaw": 90.05007934570312
                    }
                },
                "velocity": {
                    "x": 0.002300877124071121,
                    "y": 3.121846914291382,
                    "z": -0.04582017660140991
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.982109069824219,
                "transform": {
                    "location": {
                        "x": -824.308349609375,
                        "y": 6412.59912109375,
                        "z": 361.43365478515625
                    },
                    "rotation": {
                        "roll": -0.0376892164349556,
                        "pitch": -0.4318523406982422,
                        "yaw": 99.41902923583984
                    }
                },
                "velocity": {
                    "x": -1.3300007581710815,
                    "y": 7.869978904724121,
                    "z": -0.0926993191242218
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.872157096862793,
                "transform": {
                    "location": {
                        "x": -829.5029296875,
                        "y": 6430.09228515625,
                        "z": 361.32318115234375
                    },
                    "rotation": {
                        "roll": -0.273651123046875,
                        "pitch": -0.13620080053806305,
                        "yaw": 113.00718688964844
                    }
                },
                "velocity": {
                    "x": -3.6100246906280518,
                    "y": 8.104496002197266,
                    "z": -0.005526027642190456
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2978726029396057,
        "expert_target_speed": 5.605967476720419,
        "target_point": [
            51.94126889583903,
            12.069399882314496
        ],
        "target_point_next": [
            81.11153552316618,
            53.36455765642844
        ]
    },
    "130": {
        "acceleration": [
            -0.15650048851966858,
            -2.4744606018066406,
            0.0366847962141037
        ],
        "angular_velocity": [
            -0.14563702046871185,
            0.0558500662446022,
            -0.5229823589324951
        ],
        "forward_vector": [
            0.031805701553821564,
            0.9992915391921997,
            -0.02011997625231743
        ],
        "right_vector": [
            -0.9994940757751465,
            0.031801577657461166,
            -0.0005250722169876099
        ],
        "location": [
            -822.7796630859375,
            6386.5625,
            361.8070983886719
        ],
        "rotation": [
            0.030090510845184326,
            -1.1528675556182861,
            88.17699432373047
        ],
        "velocity": [
            0.11650736629962921,
            3.6363680362701416,
            -0.053412627428770065
        ],
        "speed": 3.6382339756548427,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -1,
            "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": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.46925225853919983,
                "transform": {
                    "location": {
                        "x": -823.13671875,
                        "y": 6358.62060546875,
                        "z": 362.21734619140625
                    },
                    "rotation": {
                        "roll": -0.0035399722401052713,
                        "pitch": -1.3803948163986206,
                        "yaw": 89.37026977539062
                    }
                },
                "velocity": {
                    "x": -0.033529482781887054,
                    "y": 0.4680313766002655,
                    "z": -0.004480075556784868
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.462560653686523,
                "transform": {
                    "location": {
                        "x": -823.1668701171875,
                        "y": 6371.27294921875,
                        "z": 362.0279846191406
                    },
                    "rotation": {
                        "roll": 0.001746092108078301,
                        "pitch": -0.34506112337112427,
                        "yaw": 90.00135040283203
                    }
                },
                "velocity": {
                    "x": 0.004545616917312145,
                    "y": 4.4620819091796875,
                    "z": -0.06520360708236694
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.567631721496582,
                "transform": {
                    "location": {
                        "x": -824.7241821289062,
                        "y": 6414.67041015625,
                        "z": 361.4102783203125
                    },
                    "rotation": {
                        "roll": -0.1361389458179474,
                        "pitch": -0.46224668622016907,
                        "yaw": 101.71746826171875
                    }
                },
                "velocity": {
                    "x": -1.7991621494293213,
                    "y": 8.376105308532715,
                    "z": -0.09046636521816254
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.962503910064697,
                "transform": {
                    "location": {
                        "x": -830.3304443359375,
                        "y": 6431.853515625,
                        "z": 361.32318115234375
                    },
                    "rotation": {
                        "roll": -0.2028198391199112,
                        "pitch": -0.28063878417015076,
                        "yaw": 115.3788833618164
                    }
                },
                "velocity": {
                    "x": -3.049243927001953,
                    "y": 6.25927734375,
                    "z": 0.0039301966316998005
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.32988160848617554,
        "expert_target_speed": 4.790537061491866,
        "target_point": [
            50.92816008196565,
            12.124113660301845
        ],
        "target_point_next": [
            80.0554647280571,
            53.44958564492774
        ]
    },
    "135": {
        "acceleration": [
            0.051425546407699585,
            1.4292097091674805,
            -0.013945326209068298
        ],
        "angular_velocity": [
            1.0636032819747925,
            -0.06279654055833817,
            0.7228169441223145
        ],
        "forward_vector": [
            0.030631890520453453,
            0.9993770122528076,
            -0.017529185861349106
        ],
        "right_vector": [
            -0.9995307326316833,
            0.03063141740858555,
            -0.00029553472995758057
        ],
        "location": [
            -822.753173828125,
            6387.453125,
            361.7935485839844
        ],
        "rotation": [
            0.016935495659708977,
            -1.0043997764587402,
            88.24437713623047
        ],
        "velocity": [
            0.104791559278965,
            3.6301543712615967,
            -0.053525134921073914
        ],
        "speed": 3.6316665637260526,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -1,
            "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": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5454798936843872,
                "transform": {
                    "location": {
                        "x": -823.1373291015625,
                        "y": 6358.81689453125,
                        "z": 362.21539306640625
                    },
                    "rotation": {
                        "roll": 0.009076911956071854,
                        "pitch": -0.8965100646018982,
                        "yaw": 89.4520263671875
                    }
                },
                "velocity": {
                    "x": -0.00173696200363338,
                    "y": 1.5453144311904907,
                    "z": -0.02254638634622097
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.347271919250488,
                "transform": {
                    "location": {
                        "x": -823.1655883789062,
                        "y": 6372.5400390625,
                        "z": 362.00982666015625
                    },
                    "rotation": {
                        "roll": 0.0019832244142889977,
                        "pitch": -0.3716100752353668,
                        "yaw": 89.96601867675781
                    }
                },
                "velocity": {
                    "x": 0.005437725689262152,
                    "y": 5.346710681915283,
                    "z": -0.0772729367017746
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.46941614151001,
                "transform": {
                    "location": {
                        "x": -825.1632080078125,
                        "y": 6416.6337890625,
                        "z": 361.3904113769531
                    },
                    "rotation": {
                        "roll": -0.07910159230232239,
                        "pitch": -0.6227697730064392,
                        "yaw": 102.81304931640625
                    }
                },
                "velocity": {
                    "x": -1.6700975894927979,
                    "y": 7.279999732971191,
                    "z": -0.0674646720290184
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.7629518508911133,
                "transform": {
                    "location": {
                        "x": -830.9835205078125,
                        "y": 6433.17626953125,
                        "z": 361.3244934082031
                    },
                    "rotation": {
                        "roll": -0.0748290866613388,
                        "pitch": -0.4890073537826538,
                        "yaw": 116.4424819946289
                    }
                },
                "velocity": {
                    "x": -1.6743040084838867,
                    "y": 3.3699419498443604,
                    "z": 0.0016181468963623047
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.34745731949806213,
        "expert_target_speed": 4.784786349176899,
        "target_point": [
            50.051337021290664,
            12.063517449933073
        ],
        "target_point_next": [
            79.22712673159937,
            53.35477324917177
        ]
    },
    "140": {
        "acceleration": [
            -0.030216872692108154,
            3.4060001373291016,
            -0.04817448556423187
        ],
        "angular_velocity": [
            1.0383025407791138,
            0.06210355833172798,
            -0.17888247966766357
        ],
        "forward_vector": [
            0.03190566599369049,
            0.9994121193885803,
            -0.012546805664896965
        ],
        "right_vector": [
            -0.9994907975196838,
            0.031899914145469666,
            -0.0006581660709343851
        ],
        "location": [
            -822.7207641601562,
            6388.447265625,
            361.7779235839844
        ],
        "rotation": [
            0.03771311044692993,
            -0.7188978791236877,
            88.1714859008789
        ],
        "velocity": [
            0.14342069625854492,
            4.346229076385498,
            -0.06316835433244705
        ],
        "speed": 4.3485947937850025,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.6971089839935303,
                "transform": {
                    "location": {
                        "x": -823.1387939453125,
                        "y": 6359.3525390625,
                        "z": 362.2078552246094
                    },
                    "rotation": {
                        "roll": -0.0014343434013426304,
                        "pitch": -0.7109338641166687,
                        "yaw": 89.69954681396484
                    }
                },
                "velocity": {
                    "x": -0.007716632913798094,
                    "y": 2.6968047618865967,
                    "z": -0.03976571932435036
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.446199417114258,
                "transform": {
                    "location": {
                        "x": -823.1641845703125,
                        "y": 6373.94287109375,
                        "z": 361.98944091796875
                    },
                    "rotation": {
                        "roll": -0.0009765556897036731,
                        "pitch": -0.4136020839214325,
                        "yaw": 89.94893646240234
                    }
                },
                "velocity": {
                    "x": 0.006010117940604687,
                    "y": 6.445502281188965,
                    "z": -0.09461168944835663
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.469696044921875,
                "transform": {
                    "location": {
                        "x": -825.539794921875,
                        "y": 6418.25341796875,
                        "z": 361.3758850097656
                    },
                    "rotation": {
                        "roll": -0.026702910661697388,
                        "pitch": -0.7457268238067627,
                        "yaw": 103.12142944335938
                    }
                },
                "velocity": {
                    "x": -1.2522714138031006,
                    "y": 5.32422399520874,
                    "z": -0.045043621212244034
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.7176740169525146,
                "transform": {
                    "location": {
                        "x": -831.1803588867188,
                        "y": 6433.5517578125,
                        "z": 361.3253173828125
                    },
                    "rotation": {
                        "roll": -0.0693664401769638,
                        "pitch": -0.3814387321472168,
                        "yaw": 116.96080780029297
                    }
                },
                "velocity": {
                    "x": -0.8411349058151245,
                    "y": 1.4976232051849365,
                    "z": 0.004563693888485432
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3850401043891907,
        "expert_target_speed": 5.488415207017296,
        "target_point": [
            49.04129520491096,
            12.127793388155947
        ],
        "target_point_next": [
            78.16457978699489,
            53.45609852941806
        ]
    },
    "145": {
        "acceleration": [
            -0.0840306282043457,
            3.4217166900634766,
            -0.1051686704158783
        ],
        "angular_velocity": [
            0.4228578805923462,
            0.12560614943504333,
            2.1704721450805664
        ],
        "forward_vector": [
            0.026459284126758575,
            0.9996041059494019,
            -0.009569616988301277
        ],
        "right_vector": [
            -0.9996495842933655,
            0.026465967297554016,
            0.0005725537776015699
        ],
        "location": [
            -822.6915283203125,
            6389.64794921875,
            361.7600402832031
        ],
        "rotation": [
            -0.03280641883611679,
            -0.5483070611953735,
            88.48374938964844
        ],
        "velocity": [
            0.09751041978597641,
            5.209756851196289,
            -0.07385668903589249
        ],
        "speed": 5.210669316945138,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.2843017578125,
                "transform": {
                    "location": {
                        "x": -823.1420288085938,
                        "y": 6360.23681640625,
                        "z": 362.1950378417969
                    },
                    "rotation": {
                        "roll": -0.0020752185955643654,
                        "pitch": -0.6207890510559082,
                        "yaw": 89.96466827392578
                    }
                },
                "velocity": {
                    "x": -0.006462783087044954,
                    "y": 4.28384256362915,
                    "z": -0.06238396465778351
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.395197868347168,
                "transform": {
                    "location": {
                        "x": -823.162353515625,
                        "y": 6375.58984375,
                        "z": 361.9660339355469
                    },
                    "rotation": {
                        "roll": 0.0010437447344884276,
                        "pitch": -0.6134055852890015,
                        "yaw": 89.93273162841797
                    }
                },
                "velocity": {
                    "x": 0.009399430826306343,
                    "y": 6.394503116607666,
                    "z": -0.09380082041025162
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3513691425323486,
                "transform": {
                    "location": {
                        "x": -825.7179565429688,
                        "y": 6418.9892578125,
                        "z": 361.3694152832031
                    },
                    "rotation": {
                        "roll": 0.0022545938845723867,
                        "pitch": -1.030853033065796,
                        "yaw": 102.06167602539062
                    }
                },
                "velocity": {
                    "x": -0.3144262135028839,
                    "y": 1.3142443895339966,
                    "z": -0.009829244576394558
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.2716877460479736,
                "transform": {
                    "location": {
                        "x": -831.4927978515625,
                        "y": 6434.10595703125,
                        "z": 361.326904296875
                    },
                    "rotation": {
                        "roll": -0.05508420988917351,
                        "pitch": 0.2621426582336426,
                        "yaw": 117.85313415527344
                    }
                },
                "velocity": {
                    "x": -1.6134228706359863,
                    "y": 2.846184730529785,
                    "z": 0.006303262431174517
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3946574926376343,
        "expert_target_speed": 6.311954678302495,
        "target_point": [
            47.90563202942282,
            11.857768730044938
        ],
        "target_point_next": [
            77.25374229830912,
            53.02672468405973
        ]
    },
    "150": {
        "acceleration": [
            -0.07099777460098267,
            0.6356143951416016,
            -0.015804022550582886
        ],
        "angular_velocity": [
            -0.38753485679626465,
            0.05004073679447174,
            -2.8516786098480225
        ],
        "forward_vector": [
            0.023112984374165535,
            0.9996523857116699,
            -0.012683169916272163
        ],
        "right_vector": [
            -0.9997327923774719,
            0.02311476692557335,
            -5.9837470871570986e-06
        ],
        "location": [
            -822.6644287109375,
            6390.93212890625,
            361.741943359375
        ],
        "rotation": [
            0.00034287103335373104,
            -0.7267115712165833,
            88.67549896240234
        ],
        "velocity": [
            0.10486044734716415,
            5.146831035614014,
            -0.0761575847864151
        ],
        "speed": 5.147899127078683,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.250015602349862,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.37330961227417,
                "transform": {
                    "location": {
                        "x": -823.1445922851562,
                        "y": 6361.47998046875,
                        "z": 362.1770935058594
                    },
                    "rotation": {
                        "roll": -0.00119018426630646,
                        "pitch": -0.6527406573295593,
                        "yaw": 90.02616119384766
                    }
                },
                "velocity": {
                    "x": -0.010693076997995377,
                    "y": 5.372737407684326,
                    "z": -0.07769399136304855
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9064986109733582,
                "transform": {
                    "location": {
                        "x": -823.160888671875,
                        "y": 6376.5654296875,
                        "z": 361.9571838378906
                    },
                    "rotation": {
                        "roll": 9.50497906160308e-06,
                        "pitch": -2.1589884757995605,
                        "yaw": 89.92118072509766
                    }
                },
                "velocity": {
                    "x": 0.0013943214435130358,
                    "y": 0.9063852429389954,
                    "z": -0.014268130995333195
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.4825685024261475,
                "transform": {
                    "location": {
                        "x": -825.8262329101562,
                        "y": 6419.45947265625,
                        "z": 361.36676025390625
                    },
                    "rotation": {
                        "roll": 0.017289476469159126,
                        "pitch": -0.4507105052471161,
                        "yaw": 102.35692596435547
                    }
                },
                "velocity": {
                    "x": -0.556357204914093,
                    "y": 2.4193572998046875,
                    "z": -0.017998123541474342
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.76023530960083,
                "transform": {
                    "location": {
                        "x": -831.9977416992188,
                        "y": 6434.98974609375,
                        "z": 361.3292541503906
                    },
                    "rotation": {
                        "roll": -0.047729458659887314,
                        "pitch": 0.4349122643470764,
                        "yaw": 118.87439727783203
                    }
                },
                "velocity": {
                    "x": -2.372154712677002,
                    "y": 4.12705659866333,
                    "z": 0.01123266201466322
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4095625579357147,
        "expert_target_speed": 6.251736009390055,
        "target_point": [
            46.66059045531102,
            11.694762299421196
        ],
        "target_point_next": [
            76.14633508477468,
            52.76525504475326
        ]
    },
    "155": {
        "acceleration": [
            0.17288938164710999,
            5.127973556518555,
            -0.09229466319084167
        ],
        "angular_velocity": [
            1.337626576423645,
            -0.09270749986171722,
            4.136142253875732
        ],
        "forward_vector": [
            0.014378605410456657,
            0.9998635053634644,
            -0.008132128976285458
        ],
        "right_vector": [
            -0.9998960494995117,
            0.014386551454663277,
            0.0009192926227115095
        ],
        "location": [
            -822.6450805664062,
            6392.33935546875,
            361.72027587890625
        ],
        "rotation": [
            -0.0526733361184597,
            -0.46594181656837463,
            89.17610931396484
        ],
        "velocity": [
            0.06351365149021149,
            6.410489559173584,
            -0.0942736491560936
        ],
        "speed": 6.410804190754789,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.2500982580589404,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.70951509475708,
                "transform": {
                    "location": {
                        "x": -823.14794921875,
                        "y": 6362.841796875,
                        "z": 362.1568908691406
                    },
                    "rotation": {
                        "roll": -0.0028686982113868,
                        "pitch": -0.7700491547584534,
                        "yaw": 90.06627655029297
                    }
                },
                "velocity": {
                    "x": -0.015318823978304863,
                    "y": 5.708890438079834,
                    "z": -0.08301841467618942
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8778067231178284,
                "transform": {
                    "location": {
                        "x": -823.1607666015625,
                        "y": 6376.66259765625,
                        "z": 361.953857421875
                    },
                    "rotation": {
                        "roll": -0.00021369442401919514,
                        "pitch": -1.671661376953125,
                        "yaw": 89.92245483398438
                    }
                },
                "velocity": {
                    "x": 0.002680365461856127,
                    "y": 0.8777334690093994,
                    "z": -0.011017541401088238
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.100694179534912,
                "transform": {
                    "location": {
                        "x": -826.03515625,
                        "y": 6420.26416015625,
                        "z": 361.3611145019531
                    },
                    "rotation": {
                        "roll": -0.06970212608575821,
                        "pitch": -0.1987038552761078,
                        "yaw": 103.60123443603516
                    }
                },
                "velocity": {
                    "x": -1.1185457706451416,
                    "y": 3.9450902938842773,
                    "z": -0.028474364429712296
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.3816728591918945,
                "transform": {
                    "location": {
                        "x": -832.6552124023438,
                        "y": 6436.126953125,
                        "z": 361.3334655761719
                    },
                    "rotation": {
                        "roll": -0.0335693284869194,
                        "pitch": 0.3613579571247101,
                        "yaw": 119.6805648803711
                    }
                },
                "velocity": {
                    "x": -2.705394744873047,
                    "y": 4.65219259262085,
                    "z": 0.018531426787376404
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4054555296897888,
        "expert_target_speed": 7.46731859522623,
        "target_point": [
            45.35366475290881,
            11.28560182036913
        ],
        "target_point_next": [
            75.19725210280409,
            52.096811123543304
        ]
    },
    "160": {
        "acceleration": [
            0.025677382946014404,
            4.710721969604492,
            -0.07647186517715454
        ],
        "angular_velocity": [
            0.1784968078136444,
            -0.15402843058109283,
            -2.1126508712768555
        ],
        "forward_vector": [
            0.01232945080846548,
            0.9999038577079773,
            -0.006352023687213659
        ],
        "right_vector": [
            -0.9999240040779114,
            0.012330900877714157,
            0.00018908013589680195
        ],
        "location": [
            -822.6246948242188,
            6394.0859375,
            361.69427490234375
        ],
        "rotation": [
            -0.010833712294697762,
            -0.3639466166496277,
            89.29354095458984
        ],
        "velocity": [
            0.08490994572639465,
            7.5345330238342285,
            -0.10993198305368423
        ],
        "speed": 7.5350114522893605,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.2502983997857955,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.764233589172363,
                "transform": {
                    "location": {
                        "x": -823.15234375,
                        "y": 6364.52490234375,
                        "z": 362.1322937011719
                    },
                    "rotation": {
                        "roll": -0.002838117303326726,
                        "pitch": -0.7250382304191589,
                        "yaw": 90.10816955566406
                    }
                },
                "velocity": {
                    "x": -0.018801679834723473,
                    "y": 6.763491630554199,
                    "z": -0.09840081632137299
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.714745283126831,
                "transform": {
                    "location": {
                        "x": -823.1602172851562,
                        "y": 6377.0,
                        "z": 361.9461364746094
                    },
                    "rotation": {
                        "roll": -0.0025634856428951025,
                        "pitch": -0.8724678158760071,
                        "yaw": 89.90313720703125
                    }
                },
                "velocity": {
                    "x": 0.003365861950442195,
                    "y": 1.7145519256591797,
                    "z": -0.02552955597639084
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.349174499511719,
                "transform": {
                    "location": {
                        "x": -826.3754272460938,
                        "y": 6421.421875,
                        "z": 361.353515625
                    },
                    "rotation": {
                        "roll": -0.055267322808504105,
                        "pitch": -0.14681491255760193,
                        "yaw": 105.49266815185547
                    }
                },
                "velocity": {
                    "x": -1.5322751998901367,
                    "y": 5.124906539916992,
                    "z": -0.03365666791796684
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.309830665588379,
                "transform": {
                    "location": {
                        "x": -833.361572265625,
                        "y": 6437.3349609375,
                        "z": 361.3387756347656
                    },
                    "rotation": {
                        "roll": -0.030761713162064552,
                        "pitch": 0.41582873463630676,
                        "yaw": 120.21373748779297
                    }
                },
                "velocity": {
                    "x": -3.196995973587036,
                    "y": 5.439898490905762,
                    "z": 0.02616414986550808
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.362518310546875,
        "expert_target_speed": 8.54057748373739,
        "target_point": [
            43.62999276551902,
            11.191501866771308
        ],
        "target_point_next": [
            73.55713832481605,
            51.94147695107005
        ]
    },
    "165": {
        "acceleration": [
            -0.03975123167037964,
            0.023097991943359375,
            0.006292909383773804
        ],
        "angular_velocity": [
            -1.1779133081436157,
            0.16248378157615662,
            3.0136265754699707
        ],
        "forward_vector": [
            0.010482206009328365,
            0.9999234080314636,
            -0.0065763709135353565
        ],
        "right_vector": [
            -0.9999450445175171,
            0.010483624413609505,
            0.00018109078519046307
        ],
        "location": [
            -822.6024169921875,
            6396.1181640625,
            361.6645202636719
        ],
        "rotation": [
            -0.010375961661338806,
            -0.3768010139465332,
            89.3993911743164
        ],
        "velocity": [
            0.08653334528207779,
            8.45499038696289,
            -0.12330321222543716
        ],
        "speed": 8.455433191947092,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.2506649059030885,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.578357219696045,
                "transform": {
                    "location": {
                        "x": -823.1563720703125,
                        "y": 6365.84033203125,
                        "z": 362.1119689941406
                    },
                    "rotation": {
                        "roll": 0.006807990372180939,
                        "pitch": -1.3225704431533813,
                        "yaw": 89.56514739990234
                    }
                },
                "velocity": {
                    "x": -0.01750488206744194,
                    "y": 2.578002452850342,
                    "z": -0.03902743384242058
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.874795436859131,
                "transform": {
                    "location": {
                        "x": -823.1591796875,
                        "y": 6377.58251953125,
                        "z": 361.9363708496094
                    },
                    "rotation": {
                        "roll": -0.0018005507299676538,
                        "pitch": -0.525111734867096,
                        "yaw": 89.90726470947266
                    }
                },
                "velocity": {
                    "x": 0.004492614883929491,
                    "y": 2.8744704723358154,
                    "z": -0.0429888591170311
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.580385684967041,
                "transform": {
                    "location": {
                        "x": -826.7646484375,
                        "y": 6422.701171875,
                        "z": 361.3455810546875
                    },
                    "rotation": {
                        "roll": -0.0248718298971653,
                        "pitch": -0.20734404027462006,
                        "yaw": 106.29489135742188
                    }
                },
                "velocity": {
                    "x": -1.6388872861862183,
                    "y": 5.334207534790039,
                    "z": -0.03136958181858063
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.4375581741333,
                "transform": {
                    "location": {
                        "x": -834.3658447265625,
                        "y": 6438.9365234375,
                        "z": 361.34783935546875
                    },
                    "rotation": {
                        "roll": -0.21945184469223022,
                        "pitch": 0.696296751499176,
                        "yaw": 122.18350219726562
                    }
                },
                "velocity": {
                    "x": -4.625095367431641,
                    "y": 7.056833744049072,
                    "z": 0.04442846029996872
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3520335257053375,
        "expert_target_speed": 9.389608822980138,
        "target_point": [
            41.618278014474114,
            11.11173425464146
        ],
        "target_point_next": [
            71.62077469016903,
            51.806263419177014
        ]
    },
    "170": {
        "acceleration": [
            -0.6148345470428467,
            3.351116180419922,
            -0.04548877477645874
        ],
        "angular_velocity": [
            -0.16046978533267975,
            0.43289893865585327,
            1.071863055229187
        ],
        "forward_vector": [
            0.0042874692007899284,
            0.999973475933075,
            -0.0058918846771121025
        ],
        "right_vector": [
            -0.9999894499778748,
            0.004297137726098299,
            0.0016292922664433718
        ],
        "location": [
            -822.5887451171875,
            6398.39111328125,
            361.6311340332031
        ],
        "rotation": [
            -0.09335323423147202,
            -0.3375820815563202,
            89.75434112548828
        ],
        "velocity": [
            -0.006596583407372236,
            9.690974235534668,
            -0.1414516568183899
        ],
        "speed": 9.690976480660211,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.2512415866862714,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7405471205711365,
                "transform": {
                    "location": {
                        "x": -823.156982421875,
                        "y": 6365.99609375,
                        "z": 362.10986328125
                    },
                    "rotation": {
                        "roll": 0.015377986244857311,
                        "pitch": -1.1938214302062988,
                        "yaw": 89.4931869506836
                    }
                },
                "velocity": {
                    "x": 0.0032646700274199247,
                    "y": 0.7404685020446777,
                    "z": -0.010285481810569763
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.289300918579102,
                "transform": {
                    "location": {
                        "x": -823.1576538085938,
                        "y": 6378.4873046875,
                        "z": 361.92236328125
                    },
                    "rotation": {
                        "roll": -0.0018615496810525656,
                        "pitch": -0.3244886100292206,
                        "yaw": 89.90861511230469
                    }
                },
                "velocity": {
                    "x": 0.006846258882433176,
                    "y": 4.2888312339782715,
                    "z": -0.06310572475194931
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.905338764190674,
                "transform": {
                    "location": {
                        "x": -827.212158203125,
                        "y": 6424.13720703125,
                        "z": 361.3381652832031
                    },
                    "rotation": {
                        "roll": -0.02084350772202015,
                        "pitch": -0.06549467891454697,
                        "yaw": 107.08446502685547
                    }
                },
                "velocity": {
                    "x": -2.074312448501587,
                    "y": 6.5863494873046875,
                    "z": -0.03048459067940712
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.267205238342285,
                "transform": {
                    "location": {
                        "x": -835.6116333007812,
                        "y": 6440.7978515625,
                        "z": 361.361083984375
                    },
                    "rotation": {
                        "roll": -0.150238037109375,
                        "pitch": 0.6185691952705383,
                        "yaw": 123.89710998535156
                    }
                },
                "velocity": {
                    "x": -5.206969261169434,
                    "y": 7.6658477783203125,
                    "z": 0.057831354439258575
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3007517457008362,
        "expert_target_speed": 10.521327093567924,
        "target_point": [
            39.41316170297392,
            10.858241899772914
        ],
        "target_point_next": [
            69.66655866427355,
            51.366592680819835
        ]
    },
    "175": {
        "acceleration": [
            -0.7467734813690186,
            2.064647674560547,
            -0.053885579109191895
        ],
        "angular_velocity": [
            -0.5732145309448242,
            0.360134094953537,
            5.832979202270508
        ],
        "forward_vector": [
            -0.011869247071444988,
            0.9998937249183655,
            -0.008461851626634598
        ],
        "right_vector": [
            -0.9999242424964905,
            -0.01184112299233675,
            0.0033661082852631807
        ],
        "location": [
            -822.6083374023438,
            6400.888671875,
            361.5950622558594
        ],
        "rotation": [
            -0.1928710639476776,
            -0.48483413457870483,
            90.68009948730469
        ],
        "velocity": [
            -0.17102620005607605,
            10.252289772033691,
            -0.15080173313617706
        ],
        "speed": 10.253716181504746,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25207349291884,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8041795492172241,
                "transform": {
                    "location": {
                        "x": -823.1563720703125,
                        "y": 6366.326171875,
                        "z": 362.1056213378906
                    },
                    "rotation": {
                        "roll": 0.004605929832905531,
                        "pitch": -0.7871997356414795,
                        "yaw": 89.58512115478516
                    }
                },
                "velocity": {
                    "x": 0.003610683837905526,
                    "y": 1.8039857149124146,
                    "z": -0.026195520535111427
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.366955757141113,
                "transform": {
                    "location": {
                        "x": -823.1557006835938,
                        "y": 6379.7255859375,
                        "z": 361.9044189453125
                    },
                    "rotation": {
                        "roll": -0.001251222682185471,
                        "pitch": -0.30297350883483887,
                        "yaw": 89.91299438476562
                    }
                },
                "velocity": {
                    "x": 0.008274086751043797,
                    "y": 5.366395950317383,
                    "z": -0.07707078009843826
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.29509162902832,
                "transform": {
                    "location": {
                        "x": -827.8512573242188,
                        "y": 6425.96728515625,
                        "z": 361.3306579589844
                    },
                    "rotation": {
                        "roll": -0.1560058295726776,
                        "pitch": 0.030401170253753662,
                        "yaw": 109.61383819580078
                    }
                },
                "velocity": {
                    "x": -2.904146432876587,
                    "y": 7.77004861831665,
                    "z": -0.028552789241075516
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.63649845123291,
                "transform": {
                    "location": {
                        "x": -837.0391845703125,
                        "y": 6442.810546875,
                        "z": 361.3775634765625
                    },
                    "rotation": {
                        "roll": -0.3223572075366974,
                        "pitch": 0.6765097379684448,
                        "yaw": 125.95816040039062
                    }
                },
                "velocity": {
                    "x": -6.3717827796936035,
                    "y": 8.516456604003906,
                    "z": 0.07380282878875732
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.28372982144355774,
        "expert_target_speed": 11.041939268429234,
        "target_point": [
            37.08595702756854,
            10.22962285287604
        ],
        "target_point_next": [
            67.99036277683022,
            50.24352313744365
        ]
    },
    "180": {
        "acceleration": [
            -1.1432749032974243,
            1.6118431091308594,
            -0.02154409885406494
        ],
        "angular_velocity": [
            -0.4035835862159729,
            0.3038477897644043,
            4.278986930847168
        ],
        "forward_vector": [
            -0.03386719524860382,
            0.9993721842765808,
            -0.010407974012196064
        ],
        "right_vector": [
            -0.9994139075279236,
            -0.033812861889600754,
            0.005353170447051525
        ],
        "location": [
            -822.6801147460938,
            6403.513671875,
            361.5566711425781
        ],
        "rotation": [
            -0.306732177734375,
            -0.5963437557220459,
            91.94092559814453
        ],
        "velocity": [
            -0.43538329005241394,
            10.7178316116333,
            -0.15878595411777496
        ],
        "speed": 10.726671108250823,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.2531656829266873,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.285881519317627,
                "transform": {
                    "location": {
                        "x": -823.1557006835938,
                        "y": 6366.82861328125,
                        "z": 362.0982360839844
                    },
                    "rotation": {
                        "roll": 0.0028515798039734364,
                        "pitch": -0.8623659610748291,
                        "yaw": 89.70027160644531
                    }
                },
                "velocity": {
                    "x": 0.0012660161592066288,
                    "y": 1.285735845565796,
                    "z": -0.019309453666210175
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.06754207611084,
                "transform": {
                    "location": {
                        "x": -823.153564453125,
                        "y": 6381.0927734375,
                        "z": 361.8851623535156
                    },
                    "rotation": {
                        "roll": -0.0014343169750645757,
                        "pitch": -0.5125715136528015,
                        "yaw": 89.90095520019531
                    }
                },
                "velocity": {
                    "x": 0.009183470159769058,
                    "y": 6.066882610321045,
                    "z": -0.08899828046560287
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.49649715423584,
                "transform": {
                    "location": {
                        "x": -828.661865234375,
                        "y": 6428.04296875,
                        "z": 361.32464599609375
                    },
                    "rotation": {
                        "roll": -0.1196594089269638,
                        "pitch": 0.09028826653957367,
                        "yaw": 111.62313842773438
                    }
                },
                "velocity": {
                    "x": -3.5295116901397705,
                    "y": 8.816213607788086,
                    "z": -0.019605474546551704
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.780004501342773,
                "transform": {
                    "location": {
                        "x": -838.76123046875,
                        "y": 6445.03564453125,
                        "z": 361.39691162109375
                    },
                    "rotation": {
                        "roll": -0.2603149116039276,
                        "pitch": 0.6478092670440674,
                        "yaw": 128.27378845214844
                    }
                },
                "velocity": {
                    "x": -7.3136820793151855,
                    "y": 9.234297752380371,
                    "z": 0.07937446236610413
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2856586277484894,
        "expert_target_speed": 11.477927009709116,
        "target_point": [
            34.67614793990327,
            9.428270317279766
        ],
        "target_point_next": [
            66.4535472374297,
            48.7524537745861
        ]
    },
    "185": {
        "acceleration": [
            -1.0729336738586426,
            1.1966705322265625,
            0.046727657318115234
        ],
        "angular_velocity": [
            -0.15602454543113708,
            0.14627349376678467,
            6.841468811035156
        ],
        "forward_vector": [
            -0.05854346975684166,
            0.9982172846794128,
            -0.01161429937928915
        ],
        "right_vector": [
            -0.998271107673645,
            -0.0584774911403656,
            0.005941607523709536
        ],
        "location": [
            -822.8184204101562,
            6406.23779296875,
            361.5163269042969
        ],
        "rotation": [
            -0.34045401215553284,
            -0.6654652953147888,
            93.35643768310547
        ],
        "velocity": [
            -0.7003267407417297,
            11.053146362304688,
            -0.16195616126060486
        ],
        "speed": 11.075310471960922,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.2545512807124024,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.848747730255127,
                "transform": {
                    "location": {
                        "x": -823.1557006835938,
                        "y": 6366.9267578125,
                        "z": 362.09674072265625
                    },
                    "rotation": {
                        "roll": 0.003590760286897421,
                        "pitch": -0.8858959674835205,
                        "yaw": 89.71722412109375
                    }
                },
                "velocity": {
                    "x": 0.00134653493296355,
                    "y": 0.8486571907997131,
                    "z": -0.012322502210736275
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.61614990234375,
                "transform": {
                    "location": {
                        "x": -823.1505126953125,
                        "y": 6382.8125,
                        "z": 361.8589782714844
                    },
                    "rotation": {
                        "roll": 0.000411949964473024,
                        "pitch": -0.258447527885437,
                        "yaw": 89.90103149414062
                    }
                },
                "velocity": {
                    "x": 0.013494964689016342,
                    "y": 7.615320205688477,
                    "z": -0.1116088256239891
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.739788055419922,
                "transform": {
                    "location": {
                        "x": -829.653564453125,
                        "y": 6430.3759765625,
                        "z": 361.32147216796875
                    },
                    "rotation": {
                        "roll": -0.22741694748401642,
                        "pitch": 0.17977739870548248,
                        "yaw": 113.89594268798828
                    }
                },
                "velocity": {
                    "x": -4.452917575836182,
                    "y": 9.773154258728027,
                    "z": -0.006302184890955687
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.764233589172363,
                "transform": {
                    "location": {
                        "x": -840.7353515625,
                        "y": 6447.38916015625,
                        "z": 361.4178161621094
                    },
                    "rotation": {
                        "roll": -0.42535391449928284,
                        "pitch": 0.6134670376777649,
                        "yaw": 131.12892150878906
                    }
                },
                "velocity": {
                    "x": -8.443856239318848,
                    "y": 9.571816444396973,
                    "z": 0.08541271090507507
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.31595760583877563,
        "expert_target_speed": 11.807413591029068,
        "target_point": [
            32.17090758770233,
            8.590286093040024
        ],
        "target_point_next": [
            64.90994817379692,
            47.11754569193143
        ]
    },
    "190": {
        "acceleration": [
            -1.1477971076965332,
            -0.8186149597167969,
            0.09713202714920044
        ],
        "angular_velocity": [
            -0.28846025466918945,
            0.10087268054485321,
            4.582331657409668
        ],
        "forward_vector": [
            -0.08341099321842194,
            0.9964376091957092,
            -0.012438691221177578
        ],
        "right_vector": [
            -0.9964995980262756,
            -0.08333342522382736,
            0.0066301762126386166
        ],
        "location": [
            -823.0263061523438,
            6409.013671875,
            361.4765930175781
        ],
        "rotation": [
            -0.3799133002758026,
            -0.7127028703689575,
            94.78502655029297
        ],
        "velocity": [
            -0.9902368783950806,
            11.060651779174805,
            -0.1516675055027008
        ],
        "speed": 11.104890222577458,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.2562142693329714,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9129962921142578,
                "transform": {
                    "location": {
                        "x": -823.1554565429688,
                        "y": 6367.27001953125,
                        "z": 362.0919494628906
                    },
                    "rotation": {
                        "roll": -0.0011596495751291513,
                        "pitch": -0.7204824686050415,
                        "yaw": 89.81385803222656
                    }
                },
                "velocity": {
                    "x": 0.0007002726197242737,
                    "y": 1.9127907752990723,
                    "z": -0.028030328452587128
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.661986351013184,
                "transform": {
                    "location": {
                        "x": -823.1467895507812,
                        "y": 6384.85009765625,
                        "z": 361.8294982910156
                    },
                    "rotation": {
                        "roll": 0.0001799229794414714,
                        "pitch": -0.3590357005596161,
                        "yaw": 89.89604949951172
                    }
                },
                "velocity": {
                    "x": 0.015704749152064323,
                    "y": 8.661054611206055,
                    "z": -0.12608958780765533
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.662200927734375,
                "transform": {
                    "location": {
                        "x": -830.8441772460938,
                        "y": 6432.86474609375,
                        "z": 361.32244873046875
                    },
                    "rotation": {
                        "roll": -0.18527217209339142,
                        "pitch": 0.25537392497062683,
                        "yaw": 116.25885772705078
                    }
                },
                "velocity": {
                    "x": -5.156662464141846,
                    "y": 10.46019172668457,
                    "z": 0.012170267291367054
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.528947830200195,
                "transform": {
                    "location": {
                        "x": -842.9677734375,
                        "y": 6449.82861328125,
                        "z": 361.4402160644531
                    },
                    "rotation": {
                        "roll": -0.4261779189109802,
                        "pitch": 0.5716184973716736,
                        "yaw": 133.40301513671875
                    }
                },
                "velocity": {
                    "x": -9.371241569519043,
                    "y": 9.757243156433105,
                    "z": 0.09200914204120636
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.36867862939834595,
        "expert_target_speed": 11.85440558271264,
        "target_point": [
            29.591536292278082,
            7.809921065477452
        ],
        "target_point_next": [
            63.2809685369797,
            45.50894844985406
        ]
    },
    "195": {
        "acceleration": [
            -1.6147494316101074,
            -1.0997581481933594,
            0.10103374719619751
        ],
        "angular_velocity": [
            0.015032879076898098,
            0.5138430595397949,
            10.327844619750977
        ],
        "forward_vector": [
            -0.11565279960632324,
            0.9932056665420532,
            -0.012916919775307178
        ],
        "right_vector": [
            -0.9932665824890137,
            -0.11555156111717224,
            0.008329045958817005
        ],
        "location": [
            -823.3117065429688,
            6411.74365234375,
            361.4411926269531
        ],
        "rotation": [
            -0.4772644639015198,
            -0.7401055693626404,
            96.64183807373047
        ],
        "velocity": [
            -1.3470710515975952,
            10.785430908203125,
            -0.13125081360340118
        ],
        "speed": 10.869228136978059,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.258085368150631,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.8856818675994873,
                "transform": {
                    "location": {
                        "x": -823.1555786132812,
                        "y": 6367.85693359375,
                        "z": 362.0834045410156
                    },
                    "rotation": {
                        "roll": -0.0018921269802376628,
                        "pitch": -0.6916727423667908,
                        "yaw": 89.89555358886719
                    }
                },
                "velocity": {
                    "x": -0.0003281070676166564,
                    "y": 2.8853750228881836,
                    "z": -0.042082395404577255
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.256525993347168,
                "transform": {
                    "location": {
                        "x": -823.1424560546875,
                        "y": 6387.25244140625,
                        "z": 361.7937316894531
                    },
                    "rotation": {
                        "roll": -0.0002746567188296467,
                        "pitch": -0.20351913571357727,
                        "yaw": 89.89654541015625
                    }
                },
                "velocity": {
                    "x": 0.01852184161543846,
                    "y": 10.255416870117188,
                    "z": -0.14972631633281708
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.576013565063477,
                "transform": {
                    "location": {
                        "x": -832.2723388671875,
                        "y": 6435.564453125,
                        "z": 361.3287353515625
                    },
                    "rotation": {
                        "roll": -0.2908019721508026,
                        "pitch": 0.33865442872047424,
                        "yaw": 119.21243286132812
                    }
                },
                "velocity": {
                    "x": -6.153031349182129,
                    "y": 10.967904090881348,
                    "z": 0.037304047495126724
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.458782196044922,
                "transform": {
                    "location": {
                        "x": -845.3786010742188,
                        "y": 6452.19873046875,
                        "z": 361.4637145996094
                    },
                    "rotation": {
                        "roll": -0.47094717621803284,
                        "pitch": 0.45168039202690125,
                        "yaw": 136.80062866210938
                    }
                },
                "velocity": {
                    "x": -9.7874755859375,
                    "y": 9.23768138885498,
                    "z": 0.09693271666765213
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.42115089297294617,
        "expert_target_speed": 11.671452376060701,
        "target_point": [
            27.084384172151896,
            6.879278571022038
        ],
        "target_point_next": [
            61.977636345707374,
            43.46691942761435
        ]
    },
    "200": {
        "acceleration": [
            -2.0573782920837402,
            -1.013336181640625,
            0.118427574634552
        ],
        "angular_velocity": [
            0.2125771939754486,
            0.7155524492263794,
            9.75775146484375
        ],
        "forward_vector": [
            -0.15989616513252258,
            0.987062394618988,
            -0.011875706724822521
        ],
        "right_vector": [
            -0.9870910048484802,
            -0.1597655862569809,
            0.011238042265176773
        ],
        "location": [
            -823.7017211914062,
            6414.40673828125,
            361.410888671875
        ],
        "rotation": [
            -0.6439513564109802,
            -0.6804438829421997,
            99.20152282714844
        ],
        "velocity": [
            -1.832033634185791,
            10.523427963256836,
            -0.11013373732566833
        ],
        "speed": 10.681707884727231,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.2601349780762745,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.472022533416748,
                "transform": {
                    "location": {
                        "x": -823.156005859375,
                        "y": 6368.7900390625,
                        "z": 362.06982421875
                    },
                    "rotation": {
                        "roll": -0.0018920719157904387,
                        "pitch": -0.6166021227836609,
                        "yaw": 89.96773529052734
                    }
                },
                "velocity": {
                    "x": -0.002227888908237219,
                    "y": 4.471543788909912,
                    "z": -0.0653950646519661
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.040120124816895,
                "transform": {
                    "location": {
                        "x": -823.1375732421875,
                        "y": 6389.939453125,
                        "z": 361.7550048828125
                    },
                    "rotation": {
                        "roll": 2.5066743546631187e-05,
                        "pitch": -0.3558938205242157,
                        "yaw": 89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.019777055829763412,
                    "y": 11.038918495178223,
                    "z": -0.16168928146362305
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.40320110321045,
                "transform": {
                    "location": {
                        "x": -833.8600463867188,
                        "y": 6438.2724609375,
                        "z": 361.34100341796875
                    },
                    "rotation": {
                        "roll": -0.2779540419578552,
                        "pitch": 0.3086835443973541,
                        "yaw": 121.3203125
                    }
                },
                "velocity": {
                    "x": -6.518279075622559,
                    "y": 10.552145957946777,
                    "z": 0.06024333834648132
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.335651397705078,
                "transform": {
                    "location": {
                        "x": -847.8798828125,
                        "y": 6454.41552734375,
                        "z": 361.4901123046875
                    },
                    "rotation": {
                        "roll": -0.545501708984375,
                        "pitch": 0.4972035884857178,
                        "yaw": 139.970947265625
                    }
                },
                "velocity": {
                    "x": -10.218465805053711,
                    "y": 8.567916870117188,
                    "z": 0.11556659638881683
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.42552176117897034,
        "expert_target_speed": 11.507423707932771,
        "target_point": [
            24.673406974736658,
            5.703671307719434
        ],
        "target_point_next": [
            61.16585709133309,
            40.69646478274854
        ]
    },
    "205": {
        "acceleration": [
            -1.556396484375,
            -1.6654586791992188,
            0.08791953325271606
        ],
        "angular_velocity": [
            0.19307419657707214,
            0.08216342329978943,
            12.683459281921387
        ],
        "forward_vector": [
            -0.20959331095218658,
            0.9777311086654663,
            -0.010605612769722939
        ],
        "right_vector": [
            -0.9777367115020752,
            -0.20945808291435242,
            0.012576539069414139
        ],
        "location": [
            -824.2124633789062,
            6417.0009765625,
            361.38531494140625
        ],
        "rotation": [
            -0.7206421494483948,
            -0.6076682209968567,
            102.09921264648438
        ],
        "velocity": [
            -2.2923712730407715,
            10.193357467651367,
            -0.0914832204580307
        ],
        "speed": 10.44794250160224,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.262357445684577,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 26.380298614501953,
        "front_vehicle_info": {
            "id": 33544,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -835.5385131835938,
                6440.826171875,
                361.3586120605469
            ],
            "velocity": [
                -6.859650135040283,
                10.034754753112793,
                0.07697559148073196
            ],
            "speed_kmh": 43.75992556104986,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.369194507598877,
                "transform": {
                    "location": {
                        "x": -823.1571044921875,
                        "y": 6370.0673828125,
                        "z": 362.0513916015625
                    },
                    "rotation": {
                        "roll": -0.0029601322021335363,
                        "pitch": -0.675908625125885,
                        "yaw": 90.01825714111328
                    }
                },
                "velocity": {
                    "x": -0.004030532669275999,
                    "y": 5.36860466003418,
                    "z": -0.07947840541601181
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.563349723815918,
                "transform": {
                    "location": {
                        "x": -823.1326904296875,
                        "y": 6392.61962890625,
                        "z": 361.71734619140625
                    },
                    "rotation": {
                        "roll": -0.0014648149954155087,
                        "pitch": -0.7913183569908142,
                        "yaw": 89.89744567871094
                    }
                },
                "velocity": {
                    "x": 0.018955597653985023,
                    "y": 10.562211990356445,
                    "z": -0.15384192764759064
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.155534744262695,
                "transform": {
                    "location": {
                        "x": -835.5385131835938,
                        "y": 6440.826171875,
                        "z": 361.3586120605469
                    },
                    "rotation": {
                        "roll": -0.2793273329734802,
                        "pitch": 0.35959577560424805,
                        "yaw": 124.52324676513672
                    }
                },
                "velocity": {
                    "x": -6.859650135040283,
                    "y": 10.034754753112793,
                    "z": 0.07697559148073196
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.35157299041748,
                "transform": {
                    "location": {
                        "x": -850.4860229492188,
                        "y": 6456.501953125,
                        "z": 361.52191162109375
                    },
                    "rotation": {
                        "roll": -0.544342041015625,
                        "pitch": 0.6000115871429443,
                        "yaw": 142.6009979248047
                    }
                },
                "velocity": {
                    "x": -10.655954360961914,
                    "y": 8.043405532836914,
                    "z": 0.13697774708271027
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4174134135246277,
        "expert_target_speed": 11.299590515573266,
        "target_point": [
            22.286529135847438,
            4.4934507263140855
        ],
        "target_point_next": [
            60.50128574623384,
            37.59672681656304
        ]
    },
    "210": {
        "acceleration": [
            -0.8622121810913086,
            -1.6755104064941406,
            0.06403878331184387
        ],
        "angular_velocity": [
            0.35434219241142273,
            -0.4396297335624695,
            5.055704593658447
        ],
        "forward_vector": [
            -0.24651658535003662,
            0.9690882563591003,
            -0.009872037917375565
        ],
        "right_vector": [
            -0.9691064357757568,
            -0.2464127093553543,
            0.010651390999555588
        ],
        "location": [
            -824.8140258789062,
            6419.49462890625,
            361.3645935058594
        ],
        "rotation": [
            -0.610321044921875,
            -0.5656352639198303,
            104.27218627929688
        ],
        "velocity": [
            -2.555596113204956,
            9.756190299987793,
            -0.07356330752372742
        ],
        "speed": 10.085351786794757,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.2646908348997443,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 26.885540008544922,
        "front_vehicle_info": {
            "id": 33544,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -837.3154296875,
                6443.296875,
                361.37945556640625
            ],
            "velocity": [
                -7.363694190979004,
                9.68871784210205,
                0.0848492830991745
            ],
            "speed_kmh": 43.81104525938696,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.039299488067627,
                "transform": {
                    "location": {
                        "x": -823.157470703125,
                        "y": 6371.51904296875,
                        "z": 362.0298767089844
                    },
                    "rotation": {
                        "roll": -0.0004882676585111767,
                        "pitch": -0.7563136219978333,
                        "yaw": 90.03356170654297
                    }
                },
                "velocity": {
                    "x": -0.0011932062916457653,
                    "y": 6.038656711578369,
                    "z": -0.08811488747596741
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.16986083984375,
                "transform": {
                    "location": {
                        "x": -823.1300048828125,
                        "y": 6395.32373046875,
                        "z": 361.6773986816406
                    },
                    "rotation": {
                        "roll": -0.014251687563955784,
                        "pitch": -0.6980589628219604,
                        "yaw": 89.96269226074219
                    }
                },
                "velocity": {
                    "x": 0.0044068992137908936,
                    "y": 11.168660163879395,
                    "z": -0.16374725103378296
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.169734954833984,
                "transform": {
                    "location": {
                        "x": -837.3154296875,
                        "y": 6443.296875,
                        "z": 361.37945556640625
                    },
                    "rotation": {
                        "roll": -0.3126220405101776,
                        "pitch": 0.39382869005203247,
                        "yaw": 127.06205749511719
                    }
                },
                "velocity": {
                    "x": -7.363694190979004,
                    "y": 9.68871784210205,
                    "z": 0.0848492830991745
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.1912202835083,
                "transform": {
                    "location": {
                        "x": -853.1820068359375,
                        "y": 6458.4443359375,
                        "z": 361.55877685546875
                    },
                    "rotation": {
                        "roll": -0.4202575385570526,
                        "pitch": 0.6667015552520752,
                        "yaw": 145.328857421875
                    }
                },
                "velocity": {
                    "x": -10.825814247131348,
                    "y": 7.53564977645874,
                    "z": 0.15498769283294678
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4322704076766968,
        "expert_target_speed": 10.979204702842178,
        "target_point": [
            19.875889244616165,
            3.6769553860005724
        ],
        "target_point_next": [
            59.31832295448071,
            35.30746176419914
        ]
    },
    "215": {
        "acceleration": [
            -1.1483192443847656,
            -0.5896377563476562,
            0.0409940630197525
        ],
        "angular_velocity": [
            0.704276978969574,
            -0.022390298545360565,
            9.104402542114258
        ],
        "forward_vector": [
            -0.2755075693130493,
            0.9612647891044617,
            -0.008098036982119083
        ],
        "right_vector": [
            -0.9612770080566406,
            -0.27543458342552185,
            0.009076692163944244
        ],
        "location": [
            -825.4761352539062,
            6421.892578125,
            361.3480529785156
        ],
        "rotation": [
            -0.5200803875923157,
            -0.46398839354515076,
            105.99280548095703
        ],
        "velocity": [
            -2.80348801612854,
            9.470108985900879,
            -0.058277375996112823
        ],
        "speed": 9.876361134619213,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.2670756651421184,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 27.443418502807617,
        "front_vehicle_info": {
            "id": 33544,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -839.189453125,
                6445.6640625,
                361.400146484375
            ],
            "velocity": [
                -7.474196434020996,
                9.198589324951172,
                0.08279897272586823
            ],
            "speed_kmh": 42.669418743524695,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.072421073913574,
                "transform": {
                    "location": {
                        "x": -823.157470703125,
                        "y": 6373.3583984375,
                        "z": 362.0032043457031
                    },
                    "rotation": {
                        "roll": 0.000486544071463868,
                        "pitch": -0.5983928442001343,
                        "yaw": 89.9947280883789
                    }
                },
                "velocity": {
                    "x": 0.00037344417069107294,
                    "y": 8.071550369262695,
                    "z": -0.11855797469615936
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.759210586547852,
                "transform": {
                    "location": {
                        "x": -823.1293334960938,
                        "y": 6398.109375,
                        "z": 361.63720703125
                    },
                    "rotation": {
                        "roll": -0.009979243390262127,
                        "pitch": -0.8550713062286377,
                        "yaw": 89.99951934814453
                    }
                },
                "velocity": {
                    "x": 0.0007467648247256875,
                    "y": 10.758056640625,
                    "z": -0.15756119787693024
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.852616310119629,
                "transform": {
                    "location": {
                        "x": -839.189453125,
                        "y": 6445.6640625,
                        "z": 361.400146484375
                    },
                    "rotation": {
                        "roll": -0.2262572944164276,
                        "pitch": 0.35437750816345215,
                        "yaw": 129.2658233642578
                    }
                },
                "velocity": {
                    "x": -7.474196434020996,
                    "y": 9.198589324951172,
                    "z": 0.08279897272586823
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.141712188720703,
                "transform": {
                    "location": {
                        "x": -855.8358154296875,
                        "y": 6460.1865234375,
                        "z": 361.5987548828125
                    },
                    "rotation": {
                        "roll": -0.4690246284008026,
                        "pitch": 0.60532546043396,
                        "yaw": 148.010498046875
                    }
                },
                "velocity": {
                    "x": -10.31519889831543,
                    "y": 6.4024658203125,
                    "z": 0.1620904505252838
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4716878831386566,
        "expert_target_speed": 10.789727113484325,
        "target_point": [
            17.48976914031637,
            3.1027000126652213
        ],
        "target_point_next": [
            57.86414854851073,
            33.534656868928856
        ]
    },
    "220": {
        "acceleration": [
            -1.2829351425170898,
            -0.19285202026367188,
            0.05725868046283722
        ],
        "angular_velocity": [
            0.5688281655311584,
            0.15663506090641022,
            5.16166353225708
        ],
        "forward_vector": [
            -0.3048379421234131,
            0.9523898363113403,
            -0.0052346945740282536
        ],
        "right_vector": [
            -0.9523823857307434,
            -0.30478912591934204,
            0.008443602360785007
        ],
        "location": [
            -826.2098388671875,
            6424.25341796875,
            361.3348388671875
        ],
        "rotation": [
            -0.4837951362133026,
            -0.2999272644519806,
            107.74866485595703
        ],
        "velocity": [
            -3.1085381507873535,
            9.405681610107422,
            -0.043848395347595215
        ],
        "speed": 9.906051483089183,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.269644426767282,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 27.826000213623047,
        "front_vehicle_info": {
            "id": 33544,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -841.0432739257812,
                6447.7958984375,
                361.4192199707031
            ],
            "velocity": [
                -7.045986175537109,
                7.775806903839111,
                0.07170180976390839
            ],
            "speed_kmh": 37.77671888904109,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.246234893798828,
                "transform": {
                    "location": {
                        "x": -823.156982421875,
                        "y": 6375.5244140625,
                        "z": 361.9714050292969
                    },
                    "rotation": {
                        "roll": 0.00023984535073395818,
                        "pitch": -0.641115665435791,
                        "yaw": 89.99615478515625
                    }
                },
                "velocity": {
                    "x": 0.004254175815731287,
                    "y": 9.245241165161133,
                    "z": -0.13551241159439087
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.409740447998047,
                "transform": {
                    "location": {
                        "x": -823.1682739257812,
                        "y": 6400.63134765625,
                        "z": 361.60174560546875
                    },
                    "rotation": {
                        "roll": -0.21496593952178955,
                        "pitch": -1.2557916641235352,
                        "yaw": 91.1914291381836
                    }
                },
                "velocity": {
                    "x": -0.23598043620586395,
                    "y": 9.405759811401367,
                    "z": -0.13863667845726013
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.49353313446045,
                "transform": {
                    "location": {
                        "x": -841.0432739257812,
                        "y": 6447.7958984375,
                        "z": 361.4192199707031
                    },
                    "rotation": {
                        "roll": -0.2612914443016052,
                        "pitch": 0.21714536845684052,
                        "yaw": 132.18389892578125
                    }
                },
                "velocity": {
                    "x": -7.045986175537109,
                    "y": 7.775806903839111,
                    "z": 0.07170180976390839
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.093765258789062,
                "transform": {
                    "location": {
                        "x": -858.3175048828125,
                        "y": 6461.66796875,
                        "z": 361.6394348144531
                    },
                    "rotation": {
                        "roll": -0.39532470703125,
                        "pitch": 0.6421197056770325,
                        "yaw": 150.02711486816406
                    }
                },
                "velocity": {
                    "x": -9.664586067199707,
                    "y": 5.444370746612549,
                    "z": 0.1619604080915451
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5019338726997375,
        "expert_target_speed": 10.799177667787372,
        "target_point": [
            15.104491761617783,
            2.586243635499284
        ],
        "target_point_next": [
            56.392373664946284,
            31.766807691650058
        ]
    },
    "225": {
        "acceleration": [
            -1.8878555297851562,
            -0.424041748046875,
            0.0354333221912384
        ],
        "angular_velocity": [
            0.2612762153148651,
            0.6900797486305237,
            12.88527774810791
        ],
        "forward_vector": [
            -0.343112975358963,
            0.9392892718315125,
            -0.003028030274435878
        ],
        "right_vector": [
            -0.939254879951477,
            -0.34306734800338745,
            0.01025453768670559
        ],
        "location": [
            -827.034912109375,
            6426.5966796875,
            361.32525634765625
        ],
        "rotation": [
            -0.5875547528266907,
            -0.1734936237335205,
            110.06674194335938
        ],
        "velocity": [
            -3.5485599040985107,
            9.311278343200684,
            -0.03055986762046814
        ],
        "speed": 9.964546240423278,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.2723762173316615,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 27.844507217407227,
        "front_vehicle_info": {
            "id": 33544,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -842.7261352539062,
                6449.5986328125,
                361.43603515625
            ],
            "velocity": [
                -6.653628826141357,
                6.82805871963501,
                0.06409526616334915
            ],
            "speed_kmh": 34.322421643414344,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.51619815826416,
                "transform": {
                    "location": {
                        "x": -823.1551513671875,
                        "y": 6378.0,
                        "z": 361.9351501464844
                    },
                    "rotation": {
                        "roll": 0.000623934087343514,
                        "pitch": -0.6409927010536194,
                        "yaw": 89.9509506225586
                    }
                },
                "velocity": {
                    "x": 0.009356291964650154,
                    "y": 10.515069007873535,
                    "z": -0.15386460721492767
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.640281677246094,
                "transform": {
                    "location": {
                        "x": -823.23388671875,
                        "y": 6402.97998046875,
                        "z": 361.56591796875
                    },
                    "rotation": {
                        "roll": -0.1482543647289276,
                        "pitch": -1.020812749862671,
                        "yaw": 91.7589340209961
                    }
                },
                "velocity": {
                    "x": -0.30712074041366577,
                    "y": 9.634326934814453,
                    "z": -0.14302688837051392
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.534005165100098,
                "transform": {
                    "location": {
                        "x": -842.7261352539062,
                        "y": 6449.5986328125,
                        "z": 361.43603515625
                    },
                    "rotation": {
                        "roll": -0.2066650539636612,
                        "pitch": 0.22762970626354218,
                        "yaw": 133.61822509765625
                    }
                },
                "velocity": {
                    "x": -6.653628826141357,
                    "y": 6.82805871963501,
                    "z": 0.06409526616334915
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.569829940795898,
                "transform": {
                    "location": {
                        "x": -860.69921875,
                        "y": 6462.93505859375,
                        "z": 361.6808166503906
                    },
                    "rotation": {
                        "roll": -0.3410033881664276,
                        "pitch": 0.7862025499343872,
                        "yaw": 152.77798461914062
                    }
                },
                "velocity": {
                    "x": -9.412203788757324,
                    "y": 4.806597709655762,
                    "z": 0.1683865487575531
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4960264563560486,
        "expert_target_speed": 10.836383159469847,
        "target_point": [
            12.712633313242298,
            2.0022080213531246
        ],
        "target_point_next": [
            55.14701267757282,
            29.48889495634765
        ]
    },
    "230": {
        "acceleration": [
            -1.967315673828125,
            -0.5160140991210938,
            0.06242627277970314
        ],
        "angular_velocity": [
            0.2228025197982788,
            0.39290523529052734,
            9.457324028015137
        ],
        "forward_vector": [
            -0.38853323459625244,
            0.9214338660240173,
            -0.0012228484265506268
        ],
        "right_vector": [
            -0.9213762283325195,
            -0.38849329948425293,
            0.011778348125517368
        ],
        "location": [
            -827.9754638671875,
            6428.9140625,
            361.3193359375
        ],
        "rotation": [
            -0.6748657822608948,
            -0.07006407529115677,
            112.86328125
        ],
        "velocity": [
            -4.029116630554199,
            9.195165634155273,
            -0.015247325412929058
        ],
        "speed": 10.03916589474238,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.275273456196287,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 27.810302734375,
        "front_vehicle_info": {
            "id": 33544,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -844.47021484375,
                6451.30419921875,
                361.4529724121094
            ],
            "velocity": [
                -7.336429119110107,
                6.975990295410156,
                0.07026716321706772
            ],
            "speed_kmh": 36.44590115542631,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.400232315063477,
                "transform": {
                    "location": {
                        "x": -823.15234375,
                        "y": 6380.71875,
                        "z": 361.895263671875
                    },
                    "rotation": {
                        "roll": 0.00071209721500054,
                        "pitch": -0.6791666746139526,
                        "yaw": 89.93511199951172
                    }
                },
                "velocity": {
                    "x": 0.014343488961458206,
                    "y": 11.39900016784668,
                    "z": -0.16700045764446259
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.676338195800781,
                "transform": {
                    "location": {
                        "x": -823.3804321289062,
                        "y": 6405.47412109375,
                        "z": 361.527099609375
                    },
                    "rotation": {
                        "roll": -0.41448974609375,
                        "pitch": -0.6515180468559265,
                        "yaw": 93.82837677001953
                    }
                },
                "velocity": {
                    "x": -0.8076110482215881,
                    "y": 10.644509315490723,
                    "z": -0.16242343187332153
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33544,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.123861312866211,
                "transform": {
                    "location": {
                        "x": -844.47021484375,
                        "y": 6451.30419921875,
                        "z": 361.4529724121094
                    },
                    "rotation": {
                        "roll": -0.18862909078598022,
                        "pitch": 0.4274400472640991,
                        "yaw": 136.25863647460938
                    }
                },
                "velocity": {
                    "x": -7.336429119110107,
                    "y": 6.975990295410156,
                    "z": 0.07026716321706772
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33543,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.545063972473145,
                "transform": {
                    "location": {
                        "x": -863.060546875,
                        "y": 6464.0927734375,
                        "z": 361.724365234375
                    },
                    "rotation": {
                        "roll": -0.359039306640625,
                        "pitch": 0.9556868672370911,
                        "yaw": 154.54087829589844
                    }
                },
                "velocity": {
                    "x": -9.578421592712402,
                    "y": 4.406769275665283,
                    "z": 0.18051277101039886
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4526512622833252,
        "expert_target_speed": 10.912663144388373,
        "target_point": [
            10.294428044072529,
            1.413303613998484
        ],
        "target_point_next": [
            54.01933772741431,
            26.796896422777987
        ]
    },
    "235": {
        "acceleration": [
            -1.639089584350586,
            -0.6707382202148438,
            0.05355033650994301
        ],
        "angular_velocity": [
            0.3481607139110565,
            0.02132265828549862,
            13.099546432495117
        ],
        "forward_vector": [
            -0.43472179770469666,
            0.9005647301673889,
            0.0002692937559913844
        ],
        "right_vector": [
            -0.9004928469657898,
            -0.43469083309173584,
            0.012510671280324459
        ],
        "location": [
            -829.0360717773438,
            6431.19677734375,
            361.317138671875
        ],
        "rotation": [
            -0.716827392578125,
            0.01542939618229866,
            115.7676010131836
        ],
        "velocity": [
            -4.4972028732299805,
            9.026894569396973,
            -0.0010714244563132524
        ],
        "speed": 10.085120685941073,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.2783339396586326,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -831.3001098632812,
                        "y": 6486.8203125,
                        "z": 361.0608215332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3764936625957489,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33565,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1245.91064453125,
                        "y": 6468.96435546875,
                        "z": 372.041015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33564,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1223.0458984375,
                        "y": 6471.37939453125,
                        "z": 371.47894287109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33563,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1202.702880859375,
                        "y": 6473.52783203125,
                        "z": 370.9949645996094
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1183.8118896484375,
                        "y": 6475.52294921875,
                        "z": 370.39739990234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.9344482421875,
                        "y": 6477.9384765625,
                        "z": 369.668701171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1137.1248779296875,
                        "y": 6480.4287109375,
                        "z": 368.78936767578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1108.489501953125,
                        "y": 6482.83349609375,
                        "z": 367.7353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1083.744873046875,
                        "y": 6484.23974609375,
                        "z": 366.88824462890625
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1057.9808349609375,
                        "y": 6485.04541015625,
                        "z": 365.77978515625
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1039.0882568359375,
                        "y": 6485.24560546875,
                        "z": 365.0246276855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1019.087890625,
                        "y": 6485.39697265625,
                        "z": 364.40130615234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -998.0706176757812,
                        "y": 6485.556640625,
                        "z": 363.97479248046875
                    },
                    "rotation": {
                        "roll": -2.0846636916704853e-10,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -966.8951416015625,
                        "y": 6485.79296875,
                        "z": 363.5319519042969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -943.906982421875,
                        "y": 6485.96728515625,
                        "z": 363.1274108886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -923.9080200195312,
                        "y": 6486.11865234375,
                        "z": 362.7931213378906
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -898.8984375,
                        "y": 6486.30859375,
                        "z": 362.38616943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -874.9037475585938,
                        "y": 6486.48974609375,
                        "z": 361.86767578125
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -848.4046630859375,
                        "y": 6486.69091796875,
                        "z": 361.2540588378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.918066143989563,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": -1.3323767644735085e-09,
                    "y": -1.0099373594363303e-11,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.100335121154785,
                "transform": {
                    "location": {
                        "x": -823.1482543945312,
                        "y": 6383.55029296875,
                        "z": 361.85357666015625
                    },
                    "rotation": {
                        "roll": 0.0011761437635868788,
                        "pitch": -0.8319989442825317,
                        "yaw": 89.9029541015625
                    }
                },
                "velocity": {
                    "x": 0.01629694364964962,
                    "y": 11.099129676818848,
                    "z": -0.16278238594532013
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.963789939880371,
                "transform": {
                    "location": {
                        "x": -823.604736328125,
                        "y": 6408.24072265625,
                        "z": 361.4860534667969
                    },
                    "rotation": {
                        "roll": -0.2799987196922302,
                        "pitch": -0.5880997180938721,
                        "yaw": 94.93463897705078
                    }
                },
                "velocity": {
                    "x": -0.9586192965507507,
                    "y": 10.920669555664062,
                    "z": -0.15716712176799774
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3967929184436798,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            7.836012870992234,
            0.9270892705862712
        ],
        "target_point_next": [
            52.79090140704062,
            24.062614062770756
        ]
    },
    "240": {
        "acceleration": [
            -1.1465263366699219,
            -0.3782844543457031,
            0.05175704136490822
        ],
        "angular_velocity": [
            0.5579786896705627,
            -0.35639292001724243,
            5.236727237701416
        ],
        "forward_vector": [
            -0.4695279002189636,
            0.8829158544540405,
            0.0017617930425330997
        ],
        "right_vector": [
            -0.8828597664833069,
            -0.4695190191268921,
            0.01051448006182909
        ],
        "location": [
            -830.1978759765625,
            6433.4423828125,
            361.31866455078125
        ],
        "rotation": [
            -0.6024473309516907,
            0.10094335675239563,
            118.00370025634766
        ],
        "velocity": [
            -4.8291497230529785,
            8.912588119506836,
            0.01417770329862833
        ],
        "speed": 10.136809854961129,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.281549350921444,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.013598007149994373,
                "transform": {
                    "location": {
                        "x": -831.3006591796875,
                        "y": 6486.8203125,
                        "z": 360.90179443359375
                    },
                    "rotation": {
                        "roll": -0.0007629396859556437,
                        "pitch": 0.3906116783618927,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": -4.8555953981122e-05,
                    "y": -0.0001514236646471545,
                    "z": -0.013597076758742332
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33564,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1225.5318603515625,
                        "y": 6471.1162109375,
                        "z": 371.4666442871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33563,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1205.1484375,
                        "y": 6473.26904296875,
                        "z": 370.9617004394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1186.2569580078125,
                        "y": 6475.263671875,
                        "z": 370.3729553222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.4173583984375,
                        "y": 6477.67626953125,
                        "z": 369.6122131347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1139.6053466796875,
                        "y": 6480.17822265625,
                        "z": 368.7864685058594
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1110.9827880859375,
                        "y": 6482.65478515625,
                        "z": 367.777099609375
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1086.242431640625,
                        "y": 6484.123046875,
                        "z": 366.8789367675781
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1060.4735107421875,
                        "y": 6484.994140625,
                        "z": 365.78955078125
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1041.5709228515625,
                        "y": 6485.2255859375,
                        "z": 365.0656433105469
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1021.5307006835938,
                        "y": 6485.3779296875,
                        "z": 364.4156494140625
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1000.54638671875,
                        "y": 6485.53662109375,
                        "z": 363.9223327636719
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -969.3905029296875,
                        "y": 6485.7734375,
                        "z": 363.4323425292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -946.4069213867188,
                        "y": 6485.94775390625,
                        "z": 363.1139221191406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -926.367431640625,
                        "y": 6486.09912109375,
                        "z": 362.7879943847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -901.397705078125,
                        "y": 6486.28857421875,
                        "z": 362.33319091796875
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -877.4029541015625,
                        "y": 6486.47119140625,
                        "z": 361.82147216796875
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.10010811686515808,
                "transform": {
                    "location": {
                        "x": -848.40625,
                        "y": 6486.69091796875,
                        "z": 361.0946044921875
                    },
                    "rotation": {
                        "roll": 0.0014346943935379386,
                        "pitch": 0.8949801325798035,
                        "yaw": -179.56546020507812
                    }
                },
                "velocity": {
                    "x": -0.0014266473008319736,
                    "y": 4.3959691538475454e-05,
                    "z": -0.10009794682264328
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.976935386657715,
                "transform": {
                    "location": {
                        "x": -823.1439819335938,
                        "y": 6386.21875,
                        "z": 361.8143310546875
                    },
                    "rotation": {
                        "roll": 0.0002370101137785241,
                        "pitch": -0.9786089658737183,
                        "yaw": 89.90599060058594
                    }
                },
                "velocity": {
                    "x": 0.017760420218110085,
                    "y": 9.975875854492188,
                    "z": -0.14434435963630676
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.443495750427246,
                "transform": {
                    "location": {
                        "x": -823.9288940429688,
                        "y": 6410.798828125,
                        "z": 361.4529113769531
                    },
                    "rotation": {
                        "roll": -0.6915282011032104,
                        "pitch": -1.041351079940796,
                        "yaw": 98.27375030517578
                    }
                },
                "velocity": {
                    "x": -1.4765278100967407,
                    "y": 9.326565742492676,
                    "z": -0.12102581560611725
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.35888218879699707,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            51.16137727283876,
            22.013132481029174
        ],
        "target_point_next": [
            69.10272630169058,
            41.74471811817098
        ]
    },
    "245": {
        "acceleration": [
            -1.0785961151123047,
            -0.539703369140625,
            0.06131209433078766
        ],
        "angular_velocity": [
            0.37345054745674133,
            -0.04428595304489136,
            8.55514144897461
        ],
        "forward_vector": [
            -0.495311975479126,
            0.8687095046043396,
            0.003148073563352227
        ],
        "right_vector": [
            -0.8686660528182983,
            -0.4953192174434662,
            0.008841535076498985
        ],
        "location": [
            -831.4345092773438,
            6435.65869140625,
            361.3239440917969
        ],
        "rotation": [
            -0.506591796875,
            0.18037162721157074,
            119.69049072265625
        ],
        "velocity": [
            -5.0980072021484375,
            8.784323692321777,
            0.029740123078227043
        ],
        "speed": 10.156476759420219,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.28491489266948,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.02935757301747799,
                "transform": {
                    "location": {
                        "x": -831.3006591796875,
                        "y": 6486.8203125,
                        "z": 360.91058349609375
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.3904818892478943,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.00022139615612104535,
                    "y": -6.224901881068945e-05,
                    "z": 0.02935667149722576
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33564,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1228.017822265625,
                        "y": 6470.85302734375,
                        "z": 371.4840087890625
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33563,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.63427734375,
                        "y": 6473.0068359375,
                        "z": 370.9484558105469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1188.7418212890625,
                        "y": 6475.00244140625,
                        "z": 370.40679931640625
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.902099609375,
                        "y": 6477.41357421875,
                        "z": 369.69354248046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1142.0909423828125,
                        "y": 6479.9248046875,
                        "z": 368.8763122558594
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1113.4752197265625,
                        "y": 6482.47314453125,
                        "z": 367.8387451171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1088.739013671875,
                        "y": 6484.0029296875,
                        "z": 366.90911865234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1062.9710693359375,
                        "y": 6484.9404296875,
                        "z": 365.8922424316406
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1044.070068359375,
                        "y": 6485.20654296875,
                        "z": 365.11822509765625
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1024.030517578125,
                        "y": 6485.35986328125,
                        "z": 364.4416809082031
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1003.0460205078125,
                        "y": 6485.5185546875,
                        "z": 363.9619140625
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -971.89013671875,
                        "y": 6485.75439453125,
                        "z": 363.4711608886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -948.9067993164062,
                        "y": 6485.92822265625,
                        "z": 363.1204528808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -928.8673095703125,
                        "y": 6486.0810546875,
                        "z": 362.7928771972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -903.8970336914062,
                        "y": 6486.2705078125,
                        "z": 362.30072021484375
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -879.9021606445312,
                        "y": 6486.45166015625,
                        "z": 361.7958068847656
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.033060524612665176,
                "transform": {
                    "location": {
                        "x": -848.4063110351562,
                        "y": 6486.69091796875,
                        "z": 361.0957336425781
                    },
                    "rotation": {
                        "roll": 0.001084082992747426,
                        "pitch": 0.9079779982566833,
                        "yaw": -179.5653839111328
                    }
                },
                "velocity": {
                    "x": 0.0006757049122825265,
                    "y": -3.979363464168273e-05,
                    "z": 0.03305359184741974
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.716451644897461,
                "transform": {
                    "location": {
                        "x": -823.1397705078125,
                        "y": 6388.63525390625,
                        "z": 361.779052734375
                    },
                    "rotation": {
                        "roll": 0.0006451080553233624,
                        "pitch": -0.9138177633285522,
                        "yaw": 89.89128112792969
                    }
                },
                "velocity": {
                    "x": 0.016405103728175163,
                    "y": 9.7153902053833,
                    "z": -0.14267995953559875
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.586991310119629,
                "transform": {
                    "location": {
                        "x": -824.2967529296875,
                        "y": 6412.96435546875,
                        "z": 361.4269714355469
                    },
                    "rotation": {
                        "roll": -0.5686950087547302,
                        "pitch": -1.0936839580535889,
                        "yaw": 100.18998718261719
                    }
                },
                "velocity": {
                    "x": -1.6819700002670288,
                    "y": 8.420110702514648,
                    "z": -0.09559063613414764
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.36111482977867126,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            49.24931424201844,
            20.521126087294274
        ],
        "target_point_next": [
            67.7636968055684,
            39.71605028671378
        ]
    },
    "250": {
        "acceleration": [
            -1.1479377746582031,
            -0.4892730712890625,
            0.07510848343372345
        ],
        "angular_velocity": [
            0.31372636556625366,
            0.16604964435100555,
            4.819865703582764
        ],
        "forward_vector": [
            -0.5200366377830505,
            0.8541308045387268,
            0.004738193470984697
        ],
        "right_vector": [
            -0.854091465473175,
            -0.5200582146644592,
            0.008199156261980534
        ],
        "location": [
            -832.7401123046875,
            6437.84423828125,
            361.3330078125
        ],
        "rotation": [
            -0.46978759765625,
            0.2714795172214508,
            121.3351058959961
        ],
        "velocity": [
            -5.378695487976074,
            8.673736572265625,
            0.04525085166096687
        ],
        "speed": 10.206080113218414,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.288352586723287,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.56527578830719,
                "transform": {
                    "location": {
                        "x": -831.5260620117188,
                        "y": 6486.81884765625,
                        "z": 360.916015625
                    },
                    "rotation": {
                        "roll": 0.0026657655835151672,
                        "pitch": 0.5794937014579773,
                        "yaw": -179.60240173339844
                    }
                },
                "velocity": {
                    "x": -1.5651566982269287,
                    "y": -0.010462605394423008,
                    "z": 0.01623302511870861
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33564,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1230.503173828125,
                        "y": 6470.59033203125,
                        "z": 371.5450439453125
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33563,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1210.11962890625,
                        "y": 6472.744140625,
                        "z": 371.0152587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1191.2269287109375,
                        "y": 6474.7392578125,
                        "z": 370.479248046875
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.3868408203125,
                        "y": 6477.15185546875,
                        "z": 369.77447509765625
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1144.57568359375,
                        "y": 6479.66357421875,
                        "z": 368.96490478515625
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1115.9666748046875,
                        "y": 6482.2822265625,
                        "z": 367.92791748046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1091.234130859375,
                        "y": 6483.875,
                        "z": 366.994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1065.468017578125,
                        "y": 6484.8759765625,
                        "z": 365.99334716796875
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1046.5677490234375,
                        "y": 6485.1875,
                        "z": 365.2188720703125
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1026.529052734375,
                        "y": 6485.34033203125,
                        "z": 364.5152282714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1005.5452270507812,
                        "y": 6485.49853515625,
                        "z": 364.00701904296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -974.3897705078125,
                        "y": 6485.7353515625,
                        "z": 363.5101013183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -951.4063720703125,
                        "y": 6485.9091796875,
                        "z": 363.1544494628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -931.366943359375,
                        "y": 6486.06103515625,
                        "z": 362.83447265625
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -906.3963012695312,
                        "y": 6486.2509765625,
                        "z": 362.3503723144531
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.267101287841797,
                "transform": {
                    "location": {
                        "x": -882.1793823242188,
                        "y": 6486.43359375,
                        "z": 361.86248779296875
                    },
                    "rotation": {
                        "roll": 0.0015763738192617893,
                        "pitch": 1.0975772142410278,
                        "yaw": -179.5687713623047
                    }
                },
                "velocity": {
                    "x": -8.261740684509277,
                    "y": -0.06120852753520012,
                    "z": 0.29131609201431274
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3445029258728027,
                "transform": {
                    "location": {
                        "x": -848.591796875,
                        "y": 6486.68994140625,
                        "z": 361.10369873046875
                    },
                    "rotation": {
                        "roll": 0.0028509555850178003,
                        "pitch": 1.2642884254455566,
                        "yaw": -179.5388641357422
                    }
                },
                "velocity": {
                    "x": -1.3439486026763916,
                    "y": -0.010075194761157036,
                    "z": 0.03726484254002571
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.696364402770996,
                "transform": {
                    "location": {
                        "x": -823.1354370117188,
                        "y": 6391.181640625,
                        "z": 361.7419738769531
                    },
                    "rotation": {
                        "roll": -0.001098605222068727,
                        "pitch": -0.7420316934585571,
                        "yaw": 89.91545867919922
                    }
                },
                "velocity": {
                    "x": 0.017540816217660904,
                    "y": 10.695209503173828,
                    "z": -0.15619203448295593
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.050296783447266,
                "transform": {
                    "location": {
                        "x": -824.765625,
                        "y": 6415.13671875,
                        "z": 361.40167236328125
                    },
                    "rotation": {
                        "roll": -0.510894775390625,
                        "pitch": -0.6177974343299866,
                        "yaw": 102.5071792602539
                    }
                },
                "velocity": {
                    "x": -2.0455567836761475,
                    "y": 8.81564712524414,
                    "z": -0.08903193473815918
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.36881065368652344,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            47.27225013153726,
            19.12062749057514
        ],
        "target_point_next": [
            66.32990014196567,
            37.77628220465475
        ]
    },
    "255": {
        "acceleration": [
            -1.0989856719970703,
            -1.0686874389648438,
            0.06198979914188385
        ],
        "angular_velocity": [
            0.10443805158138275,
            0.266521692276001,
            10.32666301727295
        ],
        "forward_vector": [
            -0.5484653115272522,
            0.8361517190933228,
            0.0060147871263325214
        ],
        "right_vector": [
            -0.8361049294471741,
            -0.5484982132911682,
            0.008841419592499733
        ],
        "location": [
            -834.1176147460938,
            6439.99169921875,
            361.34588623046875
        ],
        "rotation": [
            -0.506591796875,
            0.34462401270866394,
            123.2624740600586
        ],
        "velocity": [
            -5.66779088973999,
            8.461034774780273,
            0.06007472053170204
        ],
        "speed": 10.183956158088108,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.291988227648311,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.7537431716918945,
                "transform": {
                    "location": {
                        "x": -832.0675659179688,
                        "y": 6486.8154296875,
                        "z": 360.92010498046875
                    },
                    "rotation": {
                        "roll": -0.0001220701597048901,
                        "pitch": 0.6143686771392822,
                        "yaw": -179.6845245361328
                    }
                },
                "velocity": {
                    "x": -2.7536275386810303,
                    "y": -0.017935752868652344,
                    "z": 0.017753085121512413
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33564,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1232.9888916015625,
                        "y": 6470.3291015625,
                        "z": 371.6059265136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33563,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1212.60498046875,
                        "y": 6472.48095703125,
                        "z": 371.08221435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1193.7122802734375,
                        "y": 6474.4775390625,
                        "z": 370.5516662597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.8714599609375,
                        "y": 6476.88916015625,
                        "z": 369.8543395996094
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.060302734375,
                        "y": 6479.40283203125,
                        "z": 369.0534973144531
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1118.457763671875,
                        "y": 6482.087890625,
                        "z": 368.0181884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1093.7291259765625,
                        "y": 6483.744140625,
                        "z": 367.0826416015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1067.9649658203125,
                        "y": 6484.81103515625,
                        "z": 366.0944519042969
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1049.065185546875,
                        "y": 6485.16650390625,
                        "z": 365.3199768066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1029.0277099609375,
                        "y": 6485.32177734375,
                        "z": 364.5895690917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1008.0444946289062,
                        "y": 6485.48046875,
                        "z": 364.0545349121094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -976.8893432617188,
                        "y": 6485.71630859375,
                        "z": 363.5491638183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -953.906005859375,
                        "y": 6485.8896484375,
                        "z": 363.1903381347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -933.8665161132812,
                        "y": 6486.04296875,
                        "z": 362.875732421875
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -908.8956298828125,
                        "y": 6486.23291015625,
                        "z": 362.4000549316406
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.157808303833008,
                "transform": {
                    "location": {
                        "x": -884.231689453125,
                        "y": 6486.41845703125,
                        "z": 361.9214782714844
                    },
                    "rotation": {
                        "roll": -0.00018310517771169543,
                        "pitch": 1.215295433998108,
                        "yaw": -179.57997131347656
                    }
                },
                "velocity": {
                    "x": -8.15500545501709,
                    "y": -0.059536468237638474,
                    "z": 0.20536909997463226
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.227616786956787,
                "transform": {
                    "location": {
                        "x": -849.0401611328125,
                        "y": 6486.68603515625,
                        "z": 361.1130065917969
                    },
                    "rotation": {
                        "roll": 0.001331867417320609,
                        "pitch": 1.3443996906280518,
                        "yaw": -179.5570526123047
                    }
                },
                "velocity": {
                    "x": -2.227161407470703,
                    "y": -0.017284665256738663,
                    "z": 0.04158470034599304
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.570706367492676,
                "transform": {
                    "location": {
                        "x": -823.1312255859375,
                        "y": 6393.93994140625,
                        "z": 361.70166015625
                    },
                    "rotation": {
                        "roll": -0.0028076048474758863,
                        "pitch": -0.7017199397087097,
                        "yaw": 89.9210433959961
                    }
                },
                "velocity": {
                    "x": 0.012417581863701344,
                    "y": 11.569475173950195,
                    "z": -0.16835841536521912
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.516963958740234,
                "transform": {
                    "location": {
                        "x": -825.329833984375,
                        "y": 6417.5361328125,
                        "z": 361.37713623046875
                    },
                    "rotation": {
                        "roll": -0.2806395888328552,
                        "pitch": -0.11129792779684067,
                        "yaw": 103.39662170410156
                    }
                },
                "velocity": {
                    "x": -2.4623842239379883,
                    "y": 10.224233627319336,
                    "z": -0.09076087921857834
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.36376717686653137,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            45.33742160868741,
            17.545928841878126
        ],
        "target_point_next": [
            65.01172838080137,
            35.55007085886114
        ]
    },
    "260": {
        "acceleration": [
            -1.1078643798828125,
            -1.3621902465820312,
            0.031775981187820435
        ],
        "angular_velocity": [
            -0.14092938601970673,
            0.18732717633247375,
            7.268686771392822
        ],
        "forward_vector": [
            -0.5799520015716553,
            0.8146249055862427,
            0.0064782639965415
        ],
        "right_vector": [
            -0.8145665526390076,
            -0.5799880623817444,
            0.009757463820278645
        ],
        "location": [
            -835.5623779296875,
            6442.0703125,
            361.3620300292969
        ],
        "rotation": [
            -0.5590820908546448,
            0.3711797893047333,
            125.44802856445312
        ],
        "velocity": [
            -5.930908679962158,
            8.138091087341309,
            0.06811551749706268
        ],
        "speed": 10.069965457533334,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.2957148409246866,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.2692179679870605,
                "transform": {
                    "location": {
                        "x": -832.954345703125,
                        "y": 6486.80908203125,
                        "z": 360.9264221191406
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": 0.6801638603210449,
                        "yaw": -179.6414031982422
                    }
                },
                "velocity": {
                    "x": -4.268978595733643,
                    "y": -0.030028466135263443,
                    "z": 0.03379994258284569
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33564,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.4742431640625,
                        "y": 6470.06689453125,
                        "z": 371.66619873046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33563,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1215.09033203125,
                        "y": 6472.21875,
                        "z": 371.1484375
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1196.1973876953125,
                        "y": 6474.21484375,
                        "z": 370.623779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1173.356201171875,
                        "y": 6476.626953125,
                        "z": 369.9337463378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.5450439453125,
                        "y": 6479.140625,
                        "z": 369.1402587890625
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1120.947998046875,
                        "y": 6481.88623046875,
                        "z": 368.1096496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1096.2235107421875,
                        "y": 6483.60400390625,
                        "z": 367.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1070.4617919921875,
                        "y": 6484.73486328125,
                        "z": 366.1930236816406
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1051.562744140625,
                        "y": 6485.138671875,
                        "z": 365.4227600097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1031.5257568359375,
                        "y": 6485.30224609375,
                        "z": 364.6703796386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1010.5435180664062,
                        "y": 6485.4609375,
                        "z": 364.1065979003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -979.3889770507812,
                        "y": 6485.697265625,
                        "z": 363.5883483886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -956.4055786132812,
                        "y": 6485.87158203125,
                        "z": 363.22894287109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -936.3661499023438,
                        "y": 6486.0234375,
                        "z": 362.9148254394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -911.3948364257812,
                        "y": 6486.212890625,
                        "z": 362.44970703125
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.725880146026611,
                "transform": {
                    "location": {
                        "x": -886.260986328125,
                        "y": 6486.40380859375,
                        "z": 361.9689025878906
                    },
                    "rotation": {
                        "roll": -0.00024414071231149137,
                        "pitch": 1.2327193021774292,
                        "yaw": -179.57437133789062
                    }
                },
                "velocity": {
                    "x": -7.7236857414245605,
                    "y": -0.057531122118234634,
                    "z": 0.17488466203212738
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.4916231632232666,
                "transform": {
                    "location": {
                        "x": -849.7508544921875,
                        "y": 6486.68115234375,
                        "z": 361.12493896484375
                    },
                    "rotation": {
                        "roll": 0.0012807894963771105,
                        "pitch": 1.477588415145874,
                        "yaw": -179.55755615234375
                    }
                },
                "velocity": {
                    "x": -3.4910008907318115,
                    "y": -0.026866385713219643,
                    "z": 0.06019308790564537
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.904834747314453,
                "transform": {
                    "location": {
                        "x": -823.129638671875,
                        "y": 6396.7841796875,
                        "z": 361.6597900390625
                    },
                    "rotation": {
                        "roll": -0.0050659338012337685,
                        "pitch": -0.8831502199172974,
                        "yaw": 89.99656677246094
                    }
                },
                "velocity": {
                    "x": 0.0022544856183230877,
                    "y": 10.903654098510742,
                    "z": -0.1604163497686386
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.551873207092285,
                "transform": {
                    "location": {
                        "x": -825.9542236328125,
                        "y": 6420.1240234375,
                        "z": 361.3568420410156
                    },
                    "rotation": {
                        "roll": -0.11883542686700821,
                        "pitch": -0.1991819590330124,
                        "yaw": 103.62300872802734
                    }
                },
                "velocity": {
                    "x": -2.491337299346924,
                    "y": 10.253291130065918,
                    "z": -0.07268435508012772
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.338962584733963,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            43.44233337300369,
            15.832742633447953
        ],
        "target_point_next": [
            63.78893100821488,
            33.07349207776623
        ]
    },
    "265": {
        "acceleration": [
            -1.1206722259521484,
            -1.4221668243408203,
            0.009024888277053833
        ],
        "angular_velocity": [
            -0.08679664880037308,
            0.056659869849681854,
            12.139727592468262
        ],
        "forward_vector": [
            -0.6146613955497742,
            0.7887661457061768,
            0.006272751372307539
        ],
        "right_vector": [
            -0.7886953353881836,
            -0.6146913170814514,
            0.010692175477743149
        ],
        "location": [
            -837.0753173828125,
            6444.064453125,
            361.3793640136719
        ],
        "rotation": [
            -0.6126402616500854,
            0.3594045341014862,
            127.92820739746094
        ],
        "velocity": [
            -6.216367244720459,
            7.786177635192871,
            0.06878284364938736
        ],
        "speed": 9.963321930360932,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.299508660284139,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.426715850830078,
                "transform": {
                    "location": {
                        "x": -834.1951904296875,
                        "y": 6486.80029296875,
                        "z": 360.9364318847656
                    },
                    "rotation": {
                        "roll": -0.00250244140625,
                        "pitch": 0.6508828401565552,
                        "yaw": -179.60267639160156
                    }
                },
                "velocity": {
                    "x": -5.426392555236816,
                    "y": -0.03974341228604317,
                    "z": 0.043921928852796555
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33564,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.9595947265625,
                        "y": 6469.8037109375,
                        "z": 371.7261962890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33563,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1217.5758056640625,
                        "y": 6471.9560546875,
                        "z": 371.2145690917969
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1198.6824951171875,
                        "y": 6473.95166015625,
                        "z": 370.6953125
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1175.8409423828125,
                        "y": 6476.3642578125,
                        "z": 370.01190185546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1152.02978515625,
                        "y": 6478.8779296875,
                        "z": 369.2269592285156
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1123.4378662109375,
                        "y": 6481.67919921875,
                        "z": 368.20062255859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1098.7176513671875,
                        "y": 6483.4609375,
                        "z": 367.2705078125
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1072.958740234375,
                        "y": 6484.6572265625,
                        "z": 366.29150390625
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1054.060302734375,
                        "y": 6485.10693359375,
                        "z": 365.52532958984375
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1034.02392578125,
                        "y": 6485.2841796875,
                        "z": 364.7517395019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1013.042724609375,
                        "y": 6485.44287109375,
                        "z": 364.1607971191406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -981.8885498046875,
                        "y": 6485.6787109375,
                        "z": 363.6274108886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -958.9052124023438,
                        "y": 6485.8525390625,
                        "z": 363.26776123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -938.8657836914062,
                        "y": 6486.00537109375,
                        "z": 362.9540100097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -913.8941040039062,
                        "y": 6486.19482421875,
                        "z": 362.4994201660156
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.2081403732299805,
                "transform": {
                    "location": {
                        "x": -887.920654296875,
                        "y": 6486.39111328125,
                        "z": 362.00604248046875
                    },
                    "rotation": {
                        "roll": -0.0005493162898346782,
                        "pitch": 1.1122143268585205,
                        "yaw": -179.60671997070312
                    }
                },
                "velocity": {
                    "x": -6.206557273864746,
                    "y": -0.04367423057556152,
                    "z": 0.13320669531822205
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.813981056213379,
                "transform": {
                    "location": {
                        "x": -850.800537109375,
                        "y": 6486.6728515625,
                        "z": 361.1422424316406
                    },
                    "rotation": {
                        "roll": 0.002099178731441498,
                        "pitch": 1.6128603219985962,
                        "yaw": -179.56141662597656
                    }
                },
                "velocity": {
                    "x": -4.813161849975586,
                    "y": -0.035693585872650146,
                    "z": 0.08132615685462952
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.489992141723633,
                "transform": {
                    "location": {
                        "x": -823.1392211914062,
                        "y": 6399.3486328125,
                        "z": 361.6221008300781
                    },
                    "rotation": {
                        "roll": -0.0703735277056694,
                        "pitch": -1.0293503999710083,
                        "yaw": 90.44780731201172
                    }
                },
                "velocity": {
                    "x": -0.1327674388885498,
                    "y": 9.488035202026367,
                    "z": -0.13969601690769196
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.740093231201172,
                "transform": {
                    "location": {
                        "x": -826.6493530273438,
                        "y": 6422.59130859375,
                        "z": 361.3421325683594
                    },
                    "rotation": {
                        "roll": -0.56109619140625,
                        "pitch": -0.42251548171043396,
                        "yaw": 106.55242919921875
                    }
                },
                "velocity": {
                    "x": -2.8920116424560547,
                    "y": 9.300700187683105,
                    "z": -0.05152401328086853
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3101693391799927,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            41.5838825118293,
            13.970345340438568
        ],
        "target_point_next": [
            62.65750036084956,
            30.31446071828626
        ]
    },
    "270": {
        "acceleration": [
            -0.7284164428710938,
            -1.1153793334960938,
            0.011878162622451782
        ],
        "angular_velocity": [
            0.18116289377212524,
            -0.2798387408256531,
            6.234385967254639
        ],
        "forward_vector": [
            -0.6466390490531921,
            0.7627712488174438,
            0.006153902038931847
        ],
        "right_vector": [
            -0.7627042531967163,
            -0.6466653347015381,
            0.010301793925464153
        ],
        "location": [
            -838.6552734375,
            6445.97216796875,
            361.396240234375
        ],
        "rotation": [
            -0.59027099609375,
            0.3525948226451874,
            130.2895965576172
        ],
        "velocity": [
            -6.451238632202148,
            7.463982582092285,
            0.06851480156183243
        ],
        "speed": 9.865572252808981,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.303367034455582,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.49550724029541,
                "transform": {
                    "location": {
                        "x": -835.5573120117188,
                        "y": 6486.79052734375,
                        "z": 360.9482727050781
                    },
                    "rotation": {
                        "roll": -0.0018920890288427472,
                        "pitch": 0.5735651254653931,
                        "yaw": -179.57260131835938
                    }
                },
                "velocity": {
                    "x": -5.495131492614746,
                    "y": -0.04162163287401199,
                    "z": 0.048983134329319
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33564,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1240.4449462890625,
                        "y": 6469.541015625,
                        "z": 371.78533935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33563,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1220.0611572265625,
                        "y": 6471.6943359375,
                        "z": 371.2793273925781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1201.1678466796875,
                        "y": 6473.68994140625,
                        "z": 370.7660217285156
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1178.32568359375,
                        "y": 6476.1015625,
                        "z": 370.0896911621094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.5145263671875,
                        "y": 6478.6162109375,
                        "z": 369.31207275390625
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1125.9268798828125,
                        "y": 6481.46484375,
                        "z": 368.2908935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1101.2109375,
                        "y": 6483.30810546875,
                        "z": 367.3650207519531
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1075.4552001953125,
                        "y": 6484.56787109375,
                        "z": 366.3874816894531
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1056.5574951171875,
                        "y": 6485.06689453125,
                        "z": 365.6282653808594
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1036.5218505859375,
                        "y": 6485.26416015625,
                        "z": 364.8390808105469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1015.5416870117188,
                        "y": 6485.4228515625,
                        "z": 364.2196044921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -984.38818359375,
                        "y": 6485.6591796875,
                        "z": 363.6665954589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -961.4048461914062,
                        "y": 6485.83447265625,
                        "z": 363.30682373046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -941.3653564453125,
                        "y": 6485.9853515625,
                        "z": 362.9930725097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -916.3934326171875,
                        "y": 6486.1748046875,
                        "z": 362.54913330078125
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.304058074951172,
                "transform": {
                    "location": {
                        "x": -889.4839477539062,
                        "y": 6486.3798828125,
                        "z": 362.0387878417969
                    },
                    "rotation": {
                        "roll": -0.0009460451547056437,
                        "pitch": 1.1864993572235107,
                        "yaw": -179.5615997314453
                    }
                },
                "velocity": {
                    "x": -6.302417278289795,
                    "y": -0.04911317303776741,
                    "z": 0.13517844676971436
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.309663772583008,
                "transform": {
                    "location": {
                        "x": -852.107421875,
                        "y": 6486.6630859375,
                        "z": 361.1662902832031
                    },
                    "rotation": {
                        "roll": 0.0005899021634832025,
                        "pitch": 1.4419758319854736,
                        "yaw": -179.60623168945312
                    }
                },
                "velocity": {
                    "x": -5.308657646179199,
                    "y": -0.039300765842199326,
                    "z": 0.0955992266535759
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.960967063903809,
                "transform": {
                    "location": {
                        "x": -823.1895751953125,
                        "y": 6401.60986328125,
                        "z": 361.5887756347656
                    },
                    "rotation": {
                        "roll": -0.076751708984375,
                        "pitch": -0.9665741920471191,
                        "yaw": 91.51961517333984
                    }
                },
                "velocity": {
                    "x": -0.2461741417646408,
                    "y": 8.956619262695312,
                    "z": -0.1315266489982605
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.075288772583008,
                "transform": {
                    "location": {
                        "x": -827.3574829101562,
                        "y": 6424.7822265625,
                        "z": 361.3320617675781
                    },
                    "rotation": {
                        "roll": -0.5264890789985657,
                        "pitch": -0.5228304862976074,
                        "yaw": 108.44086456298828
                    }
                },
                "velocity": {
                    "x": -3.0580601692199707,
                    "y": 8.544466018676758,
                    "z": -0.03528401628136635
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.26594439148902893,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            39.6473199001927,
            12.273598451051937
        ],
        "target_point_next": [
            61.37645436181677,
            27.735557973686955
        ]
    },
    "275": {
        "acceleration": [
            -0.4892253875732422,
            -0.9082221984863281,
            0.00811845064163208
        ],
        "angular_velocity": [
            0.3285190165042877,
            -0.3067987859249115,
            7.685068130493164
        ],
        "forward_vector": [
            -0.66819828748703,
            0.7439577579498291,
            0.006158312316983938
        ],
        "right_vector": [
            -0.7439138889312744,
            -0.6682260632514954,
            0.008123994804918766
        ],
        "location": [
            -840.2791748046875,
            6447.8115234375,
            361.4128723144531
        ],
        "rotation": [
            -0.4654845595359802,
            0.35284754633903503,
            131.92913818359375
        ],
        "velocity": [
            -6.576577186584473,
            7.226873397827148,
            0.06799295544624329
        ],
        "speed": 9.77133903819354,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.307285321841737,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.642822742462158,
                "transform": {
                    "location": {
                        "x": -837.2930297851562,
                        "y": 6486.77685546875,
                        "z": 360.96405029296875
                    },
                    "rotation": {
                        "roll": -0.0002746581449173391,
                        "pitch": 0.844853401184082,
                        "yaw": -179.55899047851562
                    }
                },
                "velocity": {
                    "x": -7.642238616943359,
                    "y": -0.06091248244047165,
                    "z": 0.07220928370952606
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33564,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1242.930419921875,
                        "y": 6469.27880859375,
                        "z": 371.8443603515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33563,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1222.546630859375,
                        "y": 6471.431640625,
                        "z": 371.3439636230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1203.653076171875,
                        "y": 6473.42724609375,
                        "z": 370.83599853515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1180.8106689453125,
                        "y": 6475.83935546875,
                        "z": 370.1662292480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.999267578125,
                        "y": 6478.353515625,
                        "z": 369.3970947265625
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1128.41552734375,
                        "y": 6481.24658203125,
                        "z": 368.38092041015625
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1103.7042236328125,
                        "y": 6483.15087890625,
                        "z": 367.45947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1077.9515380859375,
                        "y": 6484.478515625,
                        "z": 366.48333740234375
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1059.0543212890625,
                        "y": 6485.02294921875,
                        "z": 365.73095703125
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1039.0194091796875,
                        "y": 6485.24609375,
                        "z": 364.92718505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1018.0405883789062,
                        "y": 6485.40478515625,
                        "z": 364.28033447265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -986.8878173828125,
                        "y": 6485.6396484375,
                        "z": 363.7056884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -963.9044189453125,
                        "y": 6485.81494140625,
                        "z": 363.34588623046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -943.864990234375,
                        "y": 6485.96728515625,
                        "z": 363.0322570800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -918.8927001953125,
                        "y": 6486.15673828125,
                        "z": 362.5988464355469
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.379169464111328,
                "transform": {
                    "location": {
                        "x": -891.3231201171875,
                        "y": 6486.3662109375,
                        "z": 362.0758361816406
                    },
                    "rotation": {
                        "roll": 0.000944020866882056,
                        "pitch": 1.3684966564178467,
                        "yaw": -179.53616333007812
                    }
                },
                "velocity": {
                    "x": -8.377104759216309,
                    "y": -0.06365084648132324,
                    "z": 0.17478495836257935
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.711610794067383,
                "transform": {
                    "location": {
                        "x": -853.5771484375,
                        "y": 6486.65185546875,
                        "z": 361.1929931640625
                    },
                    "rotation": {
                        "roll": -0.0009765622089616954,
                        "pitch": 1.5969185829162598,
                        "yaw": -179.5205841064453
                    }
                },
                "velocity": {
                    "x": -6.710153579711914,
                    "y": -0.053022436797618866,
                    "z": 0.1294029951095581
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.826602935791016,
                "transform": {
                    "location": {
                        "x": -823.2762451171875,
                        "y": 6403.94775390625,
                        "z": 361.5542907714844
                    },
                    "rotation": {
                        "roll": -0.1370238959789276,
                        "pitch": -0.7920218706130981,
                        "yaw": 92.52308654785156
                    }
                },
                "velocity": {
                    "x": -0.5394302606582642,
                    "y": 9.810660362243652,
                    "z": -0.14861343801021576
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.561715126037598,
                "transform": {
                    "location": {
                        "x": -828.185791015625,
                        "y": 6426.95849609375,
                        "z": 361.3232727050781
                    },
                    "rotation": {
                        "roll": -0.5799254775047302,
                        "pitch": -0.16266094148159027,
                        "yaw": 111.34326934814453
                    }
                },
                "velocity": {
                    "x": -3.5755465030670166,
                    "y": 8.867990493774414,
                    "z": -0.024524658918380737
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.27067509293556213,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            37.52871271827799,
            11.155161029195174
        ],
        "target_point_next": [
            59.69133524358017,
            25.989096431909836
        ]
    },
    "280": {
        "acceleration": [
            -0.7709980010986328,
            -0.8769607543945312,
            -0.00801771879196167
        ],
        "angular_velocity": [
            0.05478951334953308,
            0.02958068437874317,
            4.685222148895264
        ],
        "forward_vector": [
            -0.6880847215652466,
            0.7256027460098267,
            0.006331043783575296
        ],
        "right_vector": [
            -0.7255616784095764,
            -0.6881134510040283,
            0.007761283777654171
        ],
        "location": [
            -841.94091796875,
            6449.59130859375,
            361.4294128417969
        ],
        "rotation": [
            -0.4447021782398224,
            0.3627445101737976,
            133.4797821044922
        ],
        "velocity": [
            -6.752559661865234,
            6.989724636077881,
            0.06491348147392273
        ],
        "speed": 9.718709403786265,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.311170402978802,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.193012237548828,
                "transform": {
                    "location": {
                        "x": -839.1567993164062,
                        "y": 6486.76171875,
                        "z": 360.9832458496094
                    },
                    "rotation": {
                        "roll": 0.0010827671503648162,
                        "pitch": 0.6150038838386536,
                        "yaw": -179.53138732910156
                    }
                },
                "velocity": {
                    "x": -7.192346096038818,
                    "y": -0.05649413913488388,
                    "z": 0.07990381121635437
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33564,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1245.415771484375,
                        "y": 6469.0166015625,
                        "z": 371.90338134765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33563,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1225.031982421875,
                        "y": 6471.16943359375,
                        "z": 371.4072570800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1206.138427734375,
                        "y": 6473.1650390625,
                        "z": 370.90521240234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1183.2958984375,
                        "y": 6475.57666015625,
                        "z": 370.2423095703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.48388671875,
                        "y": 6478.09130859375,
                        "z": 369.48052978515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1130.9031982421875,
                        "y": 6481.0185546875,
                        "z": 368.4710388183594
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1106.1968994140625,
                        "y": 6482.986328125,
                        "z": 367.55413818359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1080.4478759765625,
                        "y": 6484.3759765625,
                        "z": 366.577880859375
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1061.55126953125,
                        "y": 6484.970703125,
                        "z": 365.8337707519531
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1041.5169677734375,
                        "y": 6485.22607421875,
                        "z": 365.0212707519531
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1020.5391845703125,
                        "y": 6485.38525390625,
                        "z": 364.34576416015625
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -989.3873901367188,
                        "y": 6485.62158203125,
                        "z": 363.744873046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -966.404052734375,
                        "y": 6485.7958984375,
                        "z": 363.38494873046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -946.3645629882812,
                        "y": 6485.94775390625,
                        "z": 363.07135009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -921.3920288085938,
                        "y": 6486.13720703125,
                        "z": 362.64849853515625
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.831779479980469,
                "transform": {
                    "location": {
                        "x": -893.616943359375,
                        "y": 6486.3486328125,
                        "z": 362.1239013671875
                    },
                    "rotation": {
                        "roll": 0.001055687083862722,
                        "pitch": 1.3743364810943604,
                        "yaw": -179.55429077148438
                    }
                },
                "velocity": {
                    "x": -9.82931900024414,
                    "y": -0.07509256899356842,
                    "z": 0.20672690868377686
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.982226848602295,
                "transform": {
                    "location": {
                        "x": -855.4306030273438,
                        "y": 6486.63720703125,
                        "z": 361.2284240722656
                    },
                    "rotation": {
                        "roll": 0.0024298406206071377,
                        "pitch": 1.7743600606918335,
                        "yaw": -179.56100463867188
                    }
                },
                "velocity": {
                    "x": -7.980484962463379,
                    "y": -0.060348767787218094,
                    "z": 0.1554243266582489
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.768170356750488,
                "transform": {
                    "location": {
                        "x": -823.4590454101562,
                        "y": 6406.5458984375,
                        "z": 361.5152893066406
                    },
                    "rotation": {
                        "roll": -0.131195068359375,
                        "pitch": -0.7221695184707642,
                        "yaw": 94.5018081665039
                    }
                },
                "velocity": {
                    "x": -0.8540909290313721,
                    "y": 10.733054161071777,
                    "z": -0.15992195904254913
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.647740364074707,
                "transform": {
                    "location": {
                        "x": -829.1666870117188,
                        "y": 6429.35400390625,
                        "z": 361.3170166015625
                    },
                    "rotation": {
                        "roll": -0.3587646186351776,
                        "pitch": 0.26020288467407227,
                        "yaw": 112.5246810913086
                    }
                },
                "velocity": {
                    "x": -4.1059064865112305,
                    "y": 9.824244499206543,
                    "z": -0.011858434416353703
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.27881625294685364,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            35.381953261288814,
            10.154389551908585
        ],
        "target_point_next": [
            57.93788088557643,
            24.383149362195688
        ]
    },
    "285": {
        "acceleration": [
            -0.7797813415527344,
            -0.68206787109375,
            0.0013493001461029053
        ],
        "angular_velocity": [
            0.1742025762796402,
            0.013904443010687828,
            8.400236129760742
        ],
        "forward_vector": [
            -0.7090438008308411,
            0.7051326632499695,
            0.006694982293993235
        ],
        "right_vector": [
            -0.7050942778587341,
            -0.7090752720832825,
            0.007376190274953842
        ],
        "location": [
            -843.6498413085938,
            6451.3173828125,
            361.4456481933594
        ],
        "rotation": [
            -0.4226378798484802,
            0.38359707593917847,
            135.15846252441406
        ],
        "velocity": [
            -6.946425437927246,
            6.801555156707764,
            0.06509368866682053
        ],
        "speed": 9.721830018798967,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.315216249820246,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.460629463195801,
                "transform": {
                    "location": {
                        "x": -840.9622192382812,
                        "y": 6486.748046875,
                        "z": 361.0043029785156
                    },
                    "rotation": {
                        "roll": -0.00018310561426915228,
                        "pitch": 0.7374281883239746,
                        "yaw": -179.56903076171875
                    }
                },
                "velocity": {
                    "x": -7.45992374420166,
                    "y": -0.05692164599895477,
                    "z": 0.08537473529577255
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33563,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1227.517333984375,
                        "y": 6470.90673828125,
                        "z": 371.4703369140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1208.623779296875,
                        "y": 6472.90283203125,
                        "z": 370.97369384765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1185.7811279296875,
                        "y": 6475.31494140625,
                        "z": 370.3171691894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.9686279296875,
                        "y": 6477.8291015625,
                        "z": 369.56390380859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1133.3909912109375,
                        "y": 6480.7880859375,
                        "z": 368.56103515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1108.6893310546875,
                        "y": 6482.8173828125,
                        "z": 367.6485900878906
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1082.9442138671875,
                        "y": 6484.2734375,
                        "z": 366.6726379394531
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1064.0482177734375,
                        "y": 6484.91357421875,
                        "z": 365.9359436035156
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1044.0145263671875,
                        "y": 6485.2080078125,
                        "z": 365.1159973144531
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1023.0380859375,
                        "y": 6485.3671875,
                        "z": 364.41326904296875
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -991.8870239257812,
                        "y": 6485.60302734375,
                        "z": 363.7839660644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -968.9036254882812,
                        "y": 6485.77587890625,
                        "z": 363.4241638183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -948.8641967773438,
                        "y": 6485.9296875,
                        "z": 363.1105041503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -923.8912353515625,
                        "y": 6486.119140625,
                        "z": 362.69818115234375
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.669210433959961,
                "transform": {
                    "location": {
                        "x": -896.0875854492188,
                        "y": 6486.330078125,
                        "z": 362.17669677734375
                    },
                    "rotation": {
                        "roll": 0.0006729926681146026,
                        "pitch": 1.2274805307388306,
                        "yaw": -179.57977294921875
                    }
                },
                "velocity": {
                    "x": -9.666897773742676,
                    "y": -0.0711706280708313,
                    "z": 0.19913940131664276
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.203831672668457,
                "transform": {
                    "location": {
                        "x": -857.5308227539062,
                        "y": 6486.62109375,
                        "z": 361.27105712890625
                    },
                    "rotation": {
                        "roll": 0.0005415591294877231,
                        "pitch": 1.7853020429611206,
                        "yaw": -179.5189971923828
                    }
                },
                "velocity": {
                    "x": -9.201525688171387,
                    "y": -0.07135031372308731,
                    "z": 0.1932746320962906
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.388482093811035,
                "transform": {
                    "location": {
                        "x": -823.7201538085938,
                        "y": 6409.33251953125,
                        "z": 361.4750671386719
                    },
                    "rotation": {
                        "roll": -0.22674556076526642,
                        "pitch": -0.6721178889274597,
                        "yaw": 96.14875793457031
                    }
                },
                "velocity": {
                    "x": -1.3709800243377686,
                    "y": 11.304549217224121,
                    "z": -0.15845361351966858
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.107662200927734,
                "transform": {
                    "location": {
                        "x": -830.235107421875,
                        "y": 6431.69287109375,
                        "z": 361.3172912597656
                    },
                    "rotation": {
                        "roll": -0.6193236708641052,
                        "pitch": 0.013175434432923794,
                        "yaw": 115.35989379882812
                    }
                },
                "velocity": {
                    "x": -4.424891471862793,
                    "y": 9.087636947631836,
                    "z": 0.00583240482956171
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2895631492137909,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            33.23536518980256,
            9.132394056572021
        ],
        "target_point_next": [
            56.19843152100448,
            22.69429146806144
        ]
    },
    "290": {
        "acceleration": [
            -0.85601806640625,
            -0.6994247436523438,
            0.05131229758262634
        ],
        "angular_velocity": [
            0.11784550547599792,
            0.23390613496303558,
            4.242992877960205
        ],
        "forward_vector": [
            -0.7276794910430908,
            0.685875415802002,
            0.007590101566165686
        ],
        "right_vector": [
            -0.6858367323875427,
            -0.7277190089225769,
            0.007284004706889391
        ],
        "location": [
            -845.4094848632812,
            6453.0,
            361.462646484375
        ],
        "rotation": [
            -0.4173584282398224,
            0.4348849654197693,
            136.69395446777344
        ],
        "velocity": [
            -7.154916286468506,
            6.630458831787109,
            0.07241974025964737
        ],
        "speed": 9.754784025615121,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.3193451970331647,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.53302001953125,
                "transform": {
                    "location": {
                        "x": -842.961181640625,
                        "y": 6486.732421875,
                        "z": 361.02886962890625
                    },
                    "rotation": {
                        "roll": -0.00012206962855998427,
                        "pitch": 0.8865721821784973,
                        "yaw": -179.5373992919922
                    }
                },
                "velocity": {
                    "x": -8.532042503356934,
                    "y": -0.06653662770986557,
                    "z": 0.11074083298444748
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33563,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1230.002685546875,
                        "y": 6470.64404296875,
                        "z": 371.5321044921875
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1211.109130859375,
                        "y": 6472.6396484375,
                        "z": 371.04150390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1188.2664794921875,
                        "y": 6475.05224609375,
                        "z": 370.39166259765625
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.453369140625,
                        "y": 6477.56689453125,
                        "z": 369.64569091796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1135.8775634765625,
                        "y": 6480.5478515625,
                        "z": 368.6511535644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1111.1812744140625,
                        "y": 6482.63916015625,
                        "z": 367.7432861328125
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1085.43994140625,
                        "y": 6484.15869140625,
                        "z": 366.76715087890625
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1066.545166015625,
                        "y": 6484.8486328125,
                        "z": 366.0369567871094
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1046.5120849609375,
                        "y": 6485.1875,
                        "z": 365.2166442871094
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1025.53662109375,
                        "y": 6485.34716796875,
                        "z": 364.48529052734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -994.3865966796875,
                        "y": 6485.58349609375,
                        "z": 363.8231201171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -971.4032592773438,
                        "y": 6485.75732421875,
                        "z": 363.4632263183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -951.3638305664062,
                        "y": 6485.90966796875,
                        "z": 363.14959716796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -926.3904418945312,
                        "y": 6486.09912109375,
                        "z": 362.74560546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.429386138916016,
                "transform": {
                    "location": {
                        "x": -898.4503173828125,
                        "y": 6486.3125,
                        "z": 362.22564697265625
                    },
                    "rotation": {
                        "roll": -0.0012207032414153218,
                        "pitch": 1.148305058479309,
                        "yaw": -179.5495147705078
                    }
                },
                "velocity": {
                    "x": -9.427178382873535,
                    "y": -0.07496368885040283,
                    "z": 0.18975244462490082
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.904841423034668,
                "transform": {
                    "location": {
                        "x": -859.9537963867188,
                        "y": 6486.6025390625,
                        "z": 361.32415771484375
                    },
                    "rotation": {
                        "roll": 0.0022585971746593714,
                        "pitch": 1.7906979322433472,
                        "yaw": -179.57444763183594
                    }
                },
                "velocity": {
                    "x": -9.902118682861328,
                    "y": -0.07324167340993881,
                    "z": 0.2203620821237564
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.273994445800781,
                "transform": {
                    "location": {
                        "x": -824.1168823242188,
                        "y": 6412.01025390625,
                        "z": 361.4400634765625
                    },
                    "rotation": {
                        "roll": -0.2440185546875,
                        "pitch": -0.7938796877861023,
                        "yaw": 99.53973388671875
                    }
                },
                "velocity": {
                    "x": -1.6834722757339478,
                    "y": 10.134360313415527,
                    "z": -0.12497562915086746
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.76325511932373,
                "transform": {
                    "location": {
                        "x": -831.2598266601562,
                        "y": 6433.74462890625,
                        "z": 361.32135009765625
                    },
                    "rotation": {
                        "roll": -0.5309752821922302,
                        "pitch": -0.2582426071166992,
                        "yaw": 117.0459976196289
                    }
                },
                "velocity": {
                    "x": -4.147556781768799,
                    "y": 7.719593524932861,
                    "z": 0.016743553802371025
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.32272976636886597,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            31.0335543932069,
            8.256035455217063
        ],
        "target_point_next": [
            54.35178590849925,
            21.1977337877455
        ]
    },
    "295": {
        "acceleration": [
            -0.7958698272705078,
            -0.754852294921875,
            0.04580259323120117
        ],
        "angular_velocity": [
            0.2102162390947342,
            0.20666243135929108,
            8.550748825073242
        ],
        "forward_vector": [
            -0.7468327283859253,
            0.6649523377418518,
            0.00889515969902277
        ],
        "right_vector": [
            -0.6649119257926941,
            -0.7468855977058411,
            0.007349434774369001
        ],
        "location": [
            -847.2221069335938,
            6454.63916015625,
            361.4818420410156
        ],
        "rotation": [
            -0.421112060546875,
            0.509661853313446,
            138.31930541992188
        ],
        "velocity": [
            -7.362797260284424,
            6.450406551361084,
            0.0837094634771347
        ],
        "speed": 9.788693895198369,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.3235580238312465,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.645112991333008,
                "transform": {
                    "location": {
                        "x": -845.2486572265625,
                        "y": 6486.71484375,
                        "z": 361.0604553222656
                    },
                    "rotation": {
                        "roll": 0.0008493270142935216,
                        "pitch": 1.0015379190444946,
                        "yaw": -179.56353759765625
                    }
                },
                "velocity": {
                    "x": -9.643864631652832,
                    "y": -0.07403084635734558,
                    "z": 0.13638345897197723
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33563,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1232.488037109375,
                        "y": 6470.38134765625,
                        "z": 371.59381103515625
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1213.594482421875,
                        "y": 6472.37744140625,
                        "z": 371.10858154296875
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1190.7518310546875,
                        "y": 6474.7890625,
                        "z": 370.46490478515625
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.9381103515625,
                        "y": 6477.3046875,
                        "z": 369.7273864746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1138.3638916015625,
                        "y": 6480.3037109375,
                        "z": 368.7411193847656
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1113.6729736328125,
                        "y": 6482.45751953125,
                        "z": 367.8376159667969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1087.9356689453125,
                        "y": 6484.04345703125,
                        "z": 366.8617858886719
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1069.0418701171875,
                        "y": 6484.779296875,
                        "z": 366.13702392578125
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1049.009521484375,
                        "y": 6485.16845703125,
                        "z": 365.31756591796875
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1028.0352783203125,
                        "y": 6485.3291015625,
                        "z": 364.5594787597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -996.88623046875,
                        "y": 6485.56494140625,
                        "z": 363.8622131347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -973.9028930664062,
                        "y": 6485.73779296875,
                        "z": 363.5024108886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -953.8634033203125,
                        "y": 6485.8916015625,
                        "z": 363.18878173828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -928.8897705078125,
                        "y": 6486.0810546875,
                        "z": 362.7926330566406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.732498168945312,
                "transform": {
                    "location": {
                        "x": -900.8546142578125,
                        "y": 6486.29345703125,
                        "z": 362.2737731933594
                    },
                    "rotation": {
                        "roll": -0.0006103510968387127,
                        "pitch": 1.1739387512207031,
                        "yaw": -179.5698699951172
                    }
                },
                "velocity": {
                    "x": -9.730302810668945,
                    "y": -0.07332298159599304,
                    "z": 0.1932593435049057
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.6473388671875,
                "transform": {
                    "location": {
                        "x": -862.3968505859375,
                        "y": 6486.58447265625,
                        "z": 361.3815002441406
                    },
                    "rotation": {
                        "roll": 0.0013401111355051398,
                        "pitch": 1.4688935279846191,
                        "yaw": -179.56056213378906
                    }
                },
                "velocity": {
                    "x": -9.64441967010498,
                    "y": -0.07236427813768387,
                    "z": 0.2260286509990692
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.497322082519531,
                "transform": {
                    "location": {
                        "x": -824.5523071289062,
                        "y": 6414.32275390625,
                        "z": 361.4134826660156
                    },
                    "rotation": {
                        "roll": -0.2345275729894638,
                        "pitch": -0.8534252643585205,
                        "yaw": 101.51637268066406
                    }
                },
                "velocity": {
                    "x": -1.7746120691299438,
                    "y": 8.309468269348145,
                    "z": -0.08927325904369354
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.112321853637695,
                "transform": {
                    "location": {
                        "x": -832.3529663085938,
                        "y": 6435.69482421875,
                        "z": 361.3258361816406
                    },
                    "rotation": {
                        "roll": -0.5360717177391052,
                        "pitch": 0.13023804128170013,
                        "yaw": 119.65988159179688
                    }
                },
                "velocity": {
                    "x": -4.594991207122803,
                    "y": 7.868901252746582,
                    "z": 0.029344815760850906
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3590133488178253,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            28.811456511516177,
            7.391352315162065
        ],
        "target_point_next": [
            52.48738394556669,
            19.66644648459787
        ]
    },
    "300": {
        "acceleration": [
            -0.8334255218505859,
            -0.9212017059326172,
            0.042776018381118774
        ],
        "angular_velocity": [
            -0.012105722911655903,
            0.3040556311607361,
            4.822325706481934
        ],
        "forward_vector": [
            -0.7654143571853638,
            0.6434596180915833,
            0.010029981844127178
        ],
        "right_vector": [
            -0.6434139609336853,
            -0.7654798626899719,
            0.007684887852519751
        ],
        "location": [
            -849.0851440429688,
            6456.22998046875,
            361.5040283203125
        ],
        "rotation": [
            -0.4403381049633026,
            0.574685275554657,
            139.94729614257812
        ],
        "velocity": [
            -7.562172889709473,
            6.240565776824951,
            0.09507276117801666
        ],
        "speed": 9.804647878875391,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.32784019840806,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.280954360961914,
                "transform": {
                    "location": {
                        "x": -847.6371459960938,
                        "y": 6486.69677734375,
                        "z": 361.0953674316406
                    },
                    "rotation": {
                        "roll": 0.0011453729821369052,
                        "pitch": 0.8983064293861389,
                        "yaw": -179.55564880371094
                    }
                },
                "velocity": {
                    "x": -9.279555320739746,
                    "y": -0.07014196366071701,
                    "z": 0.14504699409008026
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33563,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1234.973388671875,
                        "y": 6470.119140625,
                        "z": 371.6540832519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1216.079833984375,
                        "y": 6472.11474609375,
                        "z": 371.1748046875
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1193.2371826171875,
                        "y": 6474.52734375,
                        "z": 370.5377502441406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.4227294921875,
                        "y": 6477.04248046875,
                        "z": 369.8076171875
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1140.8494873046875,
                        "y": 6480.05029296875,
                        "z": 368.8312072753906
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1116.163818359375,
                        "y": 6482.2666015625,
                        "z": 367.9316711425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1090.4307861328125,
                        "y": 6483.916015625,
                        "z": 366.95623779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1071.53857421875,
                        "y": 6484.70166015625,
                        "z": 366.2354736328125
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1051.5064697265625,
                        "y": 6485.13916015625,
                        "z": 365.4203796386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1030.533447265625,
                        "y": 6485.31005859375,
                        "z": 364.6382751464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -999.3858642578125,
                        "y": 6485.54541015625,
                        "z": 363.9016418457031
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -976.4024658203125,
                        "y": 6485.7197265625,
                        "z": 363.5414733886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -956.363037109375,
                        "y": 6485.87255859375,
                        "z": 363.2278747558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -931.3893432617188,
                        "y": 6486.06103515625,
                        "z": 362.8345947265625
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.56420612335205,
                "transform": {
                    "location": {
                        "x": -903.2679443359375,
                        "y": 6486.275390625,
                        "z": 362.3221740722656
                    },
                    "rotation": {
                        "roll": 0.0007058677147142589,
                        "pitch": 1.137882113456726,
                        "yaw": -179.55599975585938
                    }
                },
                "velocity": {
                    "x": -9.562026977539062,
                    "y": -0.07228957116603851,
                    "z": 0.19095465540885925
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.57943058013916,
                "transform": {
                    "location": {
                        "x": -864.7910766601562,
                        "y": 6486.56591796875,
                        "z": 361.43841552734375
                    },
                    "rotation": {
                        "roll": 0.0005932623753324151,
                        "pitch": 1.3961315155029297,
                        "yaw": -179.58856201171875
                    }
                },
                "velocity": {
                    "x": -9.576472282409668,
                    "y": -0.07068228721618652,
                    "z": 0.2273046225309372
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05077838897705,
                "transform": {
                    "location": {
                        "x": -825.0033569335938,
                        "y": 6416.30224609375,
                        "z": 361.3936767578125
                    },
                    "rotation": {
                        "roll": -0.1317748874425888,
                        "pitch": -0.6533553600311279,
                        "yaw": 103.14663696289062
                    }
                },
                "velocity": {
                    "x": -1.855375051498413,
                    "y": 7.833689212799072,
                    "z": -0.07700839638710022
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.463003158569336,
                "transform": {
                    "location": {
                        "x": -833.5904541015625,
                        "y": 6437.79248046875,
                        "z": 361.3336486816406
                    },
                    "rotation": {
                        "roll": -0.3266295790672302,
                        "pitch": 0.6194844841957092,
                        "yaw": 120.75025177001953
                    }
                },
                "velocity": {
                    "x": -5.378243923187256,
                    "y": 8.974778175354004,
                    "z": 0.047867316752672195
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4046699106693268,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            26.5600629935146,
            6.588705343102433
        ],
        "target_point_next": [
            50.57516028947151,
            18.186230018509058
        ]
    },
    "305": {
        "acceleration": [
            -1.0070419311523438,
            -1.2730026245117188,
            0.03252401947975159
        ],
        "angular_velocity": [
            -0.09533862769603729,
            0.42812082171440125,
            11.164713859558105
        ],
        "forward_vector": [
            -0.78763747215271,
            0.6160390377044678,
            0.01109613012522459
        ],
        "right_vector": [
            -0.6159725189208984,
            -0.7877156138420105,
            0.009058858267962933
        ],
        "location": [
            -851.0017700195312,
            6457.759765625,
            361.5290832519531
        ],
        "rotation": [
            -0.5190734267234802,
            0.6357744932174683,
            141.96978759765625
        ],
        "velocity": [
            -7.798627853393555,
            5.954339981079102,
            0.10550633817911148
        ],
        "speed": 9.811868374881659,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.3321804262542223,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.086067199707031,
                "transform": {
                    "location": {
                        "x": -849.9066772460938,
                        "y": 6486.6796875,
                        "z": 361.1326904296875
                    },
                    "rotation": {
                        "roll": 0.0009722037357278168,
                        "pitch": 0.9568138122558594,
                        "yaw": -179.58279418945312
                    }
                },
                "velocity": {
                    "x": -9.084546089172363,
                    "y": -0.06855667382478714,
                    "z": 0.15149691700935364
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33563,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.458740234375,
                        "y": 6469.85693359375,
                        "z": 371.7142639160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1218.565185546875,
                        "y": 6471.8515625,
                        "z": 371.2403564453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1195.7225341796875,
                        "y": 6474.2646484375,
                        "z": 370.6099853515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.907470703125,
                        "y": 6476.77978515625,
                        "z": 369.8876037597656
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1143.3349609375,
                        "y": 6479.79541015625,
                        "z": 368.9208984375
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1118.6549072265625,
                        "y": 6482.072265625,
                        "z": 368.02484130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1092.9259033203125,
                        "y": 6483.7890625,
                        "z": 367.05096435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1074.0352783203125,
                        "y": 6484.619140625,
                        "z": 366.33294677734375
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1054.00390625,
                        "y": 6485.10986328125,
                        "z": 365.5230712890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1033.0316162109375,
                        "y": 6485.291015625,
                        "z": 364.71905517578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1001.8854370117188,
                        "y": 6485.52685546875,
                        "z": 363.94256591796875
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -978.902099609375,
                        "y": 6485.701171875,
                        "z": 363.5806884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -958.8626098632812,
                        "y": 6485.853515625,
                        "z": 363.26702880859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -933.8889770507812,
                        "y": 6486.04296875,
                        "z": 362.8761291503906
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.576786041259766,
                "transform": {
                    "location": {
                        "x": -905.6566772460938,
                        "y": 6486.2548828125,
                        "z": 362.38720703125
                    },
                    "rotation": {
                        "roll": -0.6557310819625854,
                        "pitch": 1.8856375217437744,
                        "yaw": -179.57493591308594
                    }
                },
                "velocity": {
                    "x": -9.57215690612793,
                    "y": -0.03558439016342163,
                    "z": 0.295583575963974
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.663748741149902,
                "transform": {
                    "location": {
                        "x": -867.1975708007812,
                        "y": 6486.548828125,
                        "z": 361.4958190917969
                    },
                    "rotation": {
                        "roll": -0.001525878207758069,
                        "pitch": 1.4220521450042725,
                        "yaw": -179.55825805664062
                    }
                },
                "velocity": {
                    "x": -9.660680770874023,
                    "y": -0.074272021651268,
                    "z": 0.23190465569496155
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.924297332763672,
                "transform": {
                    "location": {
                        "x": -825.499755859375,
                        "y": 6418.357421875,
                        "z": 361.3754577636719
                    },
                    "rotation": {
                        "roll": -0.054260242730379105,
                        "pitch": -0.3840341866016388,
                        "yaw": 103.66244506835938
                    }
                },
                "velocity": {
                    "x": -2.119769811630249,
                    "y": 8.66858959197998,
                    "z": -0.07218889892101288
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.089194297790527,
                "transform": {
                    "location": {
                        "x": -835.0045166015625,
                        "y": 6439.98779296875,
                        "z": 361.3484191894531
                    },
                    "rotation": {
                        "roll": -0.5860595107078552,
                        "pitch": 0.4627862572669983,
                        "yaw": 123.547119140625
                    }
                },
                "velocity": {
                    "x": -5.649402141571045,
                    "y": 8.358957290649414,
                    "z": 0.06270652264356613
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.43646806478500366,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            24.323880877747264,
            5.671444942406808
        ],
        "target_point_next": [
            48.7333173364601,
            16.41420476002368
        ]
    },
    "310": {
        "acceleration": [
            -1.0007476806640625,
            -1.3968086242675781,
            0.03096550703048706
        ],
        "angular_velocity": [
            -0.05499023571610451,
            0.31045377254486084,
            7.954166412353516
        ],
        "forward_vector": [
            -0.8128550052642822,
            0.5823385715484619,
            0.012186224572360516
        ],
        "right_vector": [
            -0.5822476744651794,
            -0.8129452466964722,
            0.010381110943853855
        ],
        "location": [
            -852.9800415039062,
            6459.2119140625,
            361.55682373046875
        ],
        "rotation": [
            -0.5948486924171448,
            0.6982365250587463,
            144.3817596435547
        ],
        "velocity": [
            -8.051736831665039,
            5.613999366760254,
            0.11647891998291016
        ],
        "speed": 9.815673939999021,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.336486417415177,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.44921875,
                "transform": {
                    "location": {
                        "x": -852.2366943359375,
                        "y": 6486.66162109375,
                        "z": 361.1731262207031
                    },
                    "rotation": {
                        "roll": 3.4702410630416125e-05,
                        "pitch": 1.0818198919296265,
                        "yaw": -179.55050659179688
                    }
                },
                "velocity": {
                    "x": -9.44741439819336,
                    "y": -0.07144463062286377,
                    "z": 0.17029614746570587
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -831.3001098632812,
                        "y": 6486.8203125,
                        "z": 361.1000671386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3764936625957489,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33563,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1239.944091796875,
                        "y": 6469.5947265625,
                        "z": 371.77337646484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1221.050537109375,
                        "y": 6471.58935546875,
                        "z": 371.3051452636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1198.2078857421875,
                        "y": 6474.00244140625,
                        "z": 370.6817932128906
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1174.3922119140625,
                        "y": 6476.5166015625,
                        "z": 369.9661560058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.8197021484375,
                        "y": 6479.53369140625,
                        "z": 369.0093688964844
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1121.1451416015625,
                        "y": 6481.86962890625,
                        "z": 368.1166687011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1095.42041015625,
                        "y": 6483.650390625,
                        "z": 367.1454162597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1076.5316162109375,
                        "y": 6484.529296875,
                        "z": 366.4288330078125
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1056.5008544921875,
                        "y": 6485.06787109375,
                        "z": 365.62591552734375
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1035.5291748046875,
                        "y": 6485.27197265625,
                        "z": 364.8043518066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1004.3849487304688,
                        "y": 6485.5078125,
                        "z": 363.9853820800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -981.4016723632812,
                        "y": 6485.68212890625,
                        "z": 363.6197509765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -961.3622436523438,
                        "y": 6485.83447265625,
                        "z": 363.30615234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -936.3885498046875,
                        "y": 6486.0234375,
                        "z": 362.91522216796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.642248153686523,
                "transform": {
                    "location": {
                        "x": -908.0616455078125,
                        "y": 6486.2412109375,
                        "z": 362.4532470703125
                    },
                    "rotation": {
                        "roll": -1.08233642578125,
                        "pitch": 1.4185824394226074,
                        "yaw": -179.60006713867188
                    }
                },
                "velocity": {
                    "x": -9.639044761657715,
                    "y": -0.048467472195625305,
                    "z": 0.24374352395534515
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.65180778503418,
                "transform": {
                    "location": {
                        "x": -869.6124877929688,
                        "y": 6486.52978515625,
                        "z": 361.5536193847656
                    },
                    "rotation": {
                        "roll": -0.0006103512132540345,
                        "pitch": 1.4039658308029175,
                        "yaw": -179.57510375976562
                    }
                },
                "velocity": {
                    "x": -9.648767471313477,
                    "y": -0.07170765846967697,
                    "z": 0.2313729226589203
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.130043983459473,
                "transform": {
                    "location": {
                        "x": -826.0888671875,
                        "y": 6420.67041015625,
                        "z": 361.35797119140625
                    },
                    "rotation": {
                        "roll": -0.1490173488855362,
                        "pitch": -0.21219347417354584,
                        "yaw": 104.76361846923828
                    }
                },
                "velocity": {
                    "x": -2.7234437465667725,
                    "y": 9.75683879852295,
                    "z": -0.06896717101335526
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.910490036010742,
                "transform": {
                    "location": {
                        "x": -836.336181640625,
                        "y": 6441.92724609375,
                        "z": 361.36553955078125
                    },
                    "rotation": {
                        "roll": -0.3924559950828552,
                        "pitch": 0.07976977527141571,
                        "yaw": 124.91849517822266
                    }
                },
                "velocity": {
                    "x": -5.1171064376831055,
                    "y": 7.294405460357666,
                    "z": 0.06089669093489647
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.43731215596199036,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            22.087139757815738,
            4.671122897298011
        ],
        "target_point_next": [
            46.92705601748665,
            14.377102340068298
        ]
    },
    "315": {
        "acceleration": [
            -0.8766937255859375,
            -1.4576530456542969,
            0.04086703062057495
        ],
        "angular_velocity": [
            0.07690244168043137,
            0.2812742292881012,
            12.134547233581543
        ],
        "forward_vector": [
            -0.8378437161445618,
            0.545749306678772,
            0.013250797055661678
        ],
        "right_vector": [
            -0.5456421971321106,
            -0.8379461169242859,
            0.010992342606186867
        ],
        "location": [
            -855.01953125,
            6460.576171875,
            361.5873718261719
        ],
        "rotation": [
            -0.6298828125,
            0.7592369318008423,
            146.92083740234375
        ],
        "velocity": [
            -8.286765098571777,
            5.2541117668151855,
            0.1276652067899704
        ],
        "speed": 9.812041900496201,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.340926106031188,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.240164756774902,
                "transform": {
                    "location": {
                        "x": -854.5753173828125,
                        "y": 6486.64404296875,
                        "z": 361.21728515625
                    },
                    "rotation": {
                        "roll": 0.0009569546091370285,
                        "pitch": 1.11527419090271,
                        "yaw": -179.58316040039062
                    }
                },
                "velocity": {
                    "x": -9.238207817077637,
                    "y": -0.06837425380945206,
                    "z": 0.17742608487606049
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.08476948738098145,
                "transform": {
                    "location": {
                        "x": -831.3005981445312,
                        "y": 6486.8203125,
                        "z": 360.9455871582031
                    },
                    "rotation": {
                        "roll": 0.007238699588924646,
                        "pitch": 0.3883576989173889,
                        "yaw": -179.5638427734375
                    }
                },
                "velocity": {
                    "x": -0.0005002971738576889,
                    "y": 0.0003917057765647769,
                    "z": -0.08476711064577103
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33563,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1242.429443359375,
                        "y": 6469.33154296875,
                        "z": 371.8324890136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1223.535888671875,
                        "y": 6471.3271484375,
                        "z": 371.3691711425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1200.6932373046875,
                        "y": 6473.73974609375,
                        "z": 370.7525329589844
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1176.877197265625,
                        "y": 6476.25439453125,
                        "z": 370.0445556640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1148.304443359375,
                        "y": 6479.2724609375,
                        "z": 369.09716796875
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1123.635009765625,
                        "y": 6481.6630859375,
                        "z": 368.2077941894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1097.9149169921875,
                        "y": 6483.509765625,
                        "z": 367.2401123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1079.02783203125,
                        "y": 6484.435546875,
                        "z": 366.5240478515625
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1058.997802734375,
                        "y": 6485.0234375,
                        "z": 365.7286376953125
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1038.0267333984375,
                        "y": 6485.2529296875,
                        "z": 364.8918151855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1006.8842163085938,
                        "y": 6485.4892578125,
                        "z": 364.03265380859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -983.9013061523438,
                        "y": 6485.66357421875,
                        "z": 363.6589660644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -963.8618774414062,
                        "y": 6485.8154296875,
                        "z": 363.34527587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -938.88818359375,
                        "y": 6486.00537109375,
                        "z": 362.95428466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.577812194824219,
                "transform": {
                    "location": {
                        "x": -910.4599609375,
                        "y": 6486.22802734375,
                        "z": 362.5075988769531
                    },
                    "rotation": {
                        "roll": -1.3733824491500854,
                        "pitch": 1.0917236804962158,
                        "yaw": -179.57028198242188
                    }
                },
                "velocity": {
                    "x": -9.575922966003418,
                    "y": -0.05488208308815956,
                    "z": 0.18211904168128967
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.635766983032227,
                "transform": {
                    "location": {
                        "x": -872.0213623046875,
                        "y": 6486.51123046875,
                        "z": 361.6105041503906
                    },
                    "rotation": {
                        "roll": -0.000335693039232865,
                        "pitch": 1.363073468208313,
                        "yaw": -179.5492401123047
                    }
                },
                "velocity": {
                    "x": -9.632888793945312,
                    "y": -0.07257668673992157,
                    "z": 0.22404713928699493
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.732803344726562,
                "transform": {
                    "location": {
                        "x": -826.8597412109375,
                        "y": 6423.2177734375,
                        "z": 361.3422546386719
                    },
                    "rotation": {
                        "roll": -0.17138671875,
                        "pitch": -0.17026294767856598,
                        "yaw": 107.51583099365234
                    }
                },
                "velocity": {
                    "x": -3.235250473022461,
                    "y": 10.233428955078125,
                    "z": -0.05626857653260231
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.286806106567383,
                "transform": {
                    "location": {
                        "x": -837.6925048828125,
                        "y": 6443.72998046875,
                        "z": 361.38018798828125
                    },
                    "rotation": {
                        "roll": -0.5647582411766052,
                        "pitch": 0.35021793842315674,
                        "yaw": 127.43834686279297
                    }
                },
                "velocity": {
                    "x": -5.7473626136779785,
                    "y": 7.294411659240723,
                    "z": 0.0644332692027092
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4317968487739563,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            19.81885996749058,
            3.7180364961873833
        ],
        "target_point_next": [
            45.06437638443691,
            12.314045894311375
        ]
    },
    "320": {
        "acceleration": [
            -0.3953361511230469,
            -1.430816650390625,
            0.03246009349822998
        ],
        "angular_velocity": [
            0.3099907338619232,
            -0.028453873470425606,
            6.506814479827881
        ],
        "forward_vector": [
            -0.8592174649238586,
            0.5114169716835022,
            0.014069450087845325
        ],
        "right_vector": [
            -0.5113139748573303,
            -0.8593308925628662,
            0.010417063720524311
        ],
        "location": [
            -857.1077270507812,
            6461.8505859375,
            361.6204528808594
        ],
        "rotation": [
            -0.5969236493110657,
            0.8061466813087463,
            149.2383575439453
        ],
        "velocity": [
            -8.426833152770996,
            4.893904209136963,
            0.13769952952861786
        ],
        "speed": 9.74483531891888,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.3453922645961995,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": -858.2528076171875,
                        "y": 6493.61669921875,
                        "z": 361.5738220214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2281908988952637,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": -8.717802479907277e-09,
                    "y": -6.608066871471863e-11,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": -858.2262573242188,
                        "y": 6490.1171875,
                        "z": 361.5738220214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2281908988952637,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": -1.1234114971614417e-08,
                    "y": -8.515423782773368e-11,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1298.1175537109375,
                        "y": 6470.48974609375,
                        "z": 373.0512390136719
                    },
                    "rotation": {
                        "roll": 6.671036612004855e-09,
                        "pitch": 0.9566977024078369,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1313.4486083984375,
                        "y": 6468.87158203125,
                        "z": 373.2712707519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1298.1312255859375,
                        "y": 6466.9697265625,
                        "z": 373.04693603515625
                    },
                    "rotation": {
                        "roll": 3.3354645712080355e-09,
                        "pitch": 0.8998227119445801,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.250799179077148,
                "transform": {
                    "location": {
                        "x": -856.8794555664062,
                        "y": 6486.626953125,
                        "z": 361.26318359375
                    },
                    "rotation": {
                        "roll": 0.001516591408289969,
                        "pitch": 1.1891289949417114,
                        "yaw": -179.5499267578125
                    }
                },
                "velocity": {
                    "x": -9.24854564666748,
                    "y": -0.0701693445444107,
                    "z": 0.1917261779308319
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1312.71337890625,
                        "y": 6461.91064453125,
                        "z": 373.2712707519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.020212870091199875,
                "transform": {
                    "location": {
                        "x": -831.3005981445312,
                        "y": 6486.8203125,
                        "z": 360.9468688964844
                    },
                    "rotation": {
                        "roll": 0.002074980642646551,
                        "pitch": 0.3857349157333374,
                        "yaw": -179.5638427734375
                    }
                },
                "velocity": {
                    "x": 0.00012749173038173467,
                    "y": 0.00020099700486753136,
                    "z": 0.020211467519402504
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33563,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1244.914794921875,
                        "y": 6469.0693359375,
                        "z": 371.8914794921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1226.021240234375,
                        "y": 6471.06494140625,
                        "z": 371.4324035644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1203.178466796875,
                        "y": 6473.4775390625,
                        "z": 370.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1179.3621826171875,
                        "y": 6475.9921875,
                        "z": 370.1214294433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1150.7891845703125,
                        "y": 6479.009765625,
                        "z": 369.18365478515625
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1126.1240234375,
                        "y": 6481.44775390625,
                        "z": 368.29803466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1100.4083251953125,
                        "y": 6483.357421875,
                        "z": 367.3345642089844
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1081.5235595703125,
                        "y": 6484.33251953125,
                        "z": 366.6187744140625
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1061.494140625,
                        "y": 6484.9716796875,
                        "z": 365.8314514160156
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1040.52392578125,
                        "y": 6485.2333984375,
                        "z": 364.9838562011719
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1009.3834228515625,
                        "y": 6485.4697265625,
                        "z": 364.0818786621094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -986.4009399414062,
                        "y": 6485.6435546875,
                        "z": 363.6980285644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -966.3614501953125,
                        "y": 6485.7958984375,
                        "z": 363.3843994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -941.3878173828125,
                        "y": 6485.9853515625,
                        "z": 362.99334716796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.637649536132812,
                "transform": {
                    "location": {
                        "x": -912.8572998046875,
                        "y": 6486.21533203125,
                        "z": 362.54449462890625
                    },
                    "rotation": {
                        "roll": -0.4400024116039276,
                        "pitch": 0.7369158864021301,
                        "yaw": -179.48995971679688
                    }
                },
                "velocity": {
                    "x": -9.636893272399902,
                    "y": -0.11936533451080322,
                    "z": 0.017841385677456856
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.64415454864502,
                "transform": {
                    "location": {
                        "x": -874.4303588867188,
                        "y": 6486.4931640625,
                        "z": 361.66619873046875
                    },
                    "rotation": {
                        "roll": 0.00010658931569196284,
                        "pitch": 1.3352813720703125,
                        "yaw": -179.57936096191406
                    }
                },
                "velocity": {
                    "x": -9.641355514526367,
                    "y": -0.07275128364562988,
                    "z": 0.22065936028957367
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.341483116149902,
                "transform": {
                    "location": {
                        "x": -827.6884765625,
                        "y": 6425.703125,
                        "z": 361.3309631347656
                    },
                    "rotation": {
                        "roll": -0.22018428146839142,
                        "pitch": -0.20804071426391602,
                        "yaw": 109.26078033447266
                    }
                },
                "velocity": {
                    "x": -3.5186901092529297,
                    "y": 9.724390983581543,
                    "z": -0.0361902229487896
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.445090293884277,
                "transform": {
                    "location": {
                        "x": -839.2057495117188,
                        "y": 6445.62744140625,
                        "z": 361.39556884765625
                    },
                    "rotation": {
                        "roll": -0.37078848481178284,
                        "pitch": 0.7077373266220093,
                        "yaw": 128.85618591308594
                    }
                },
                "velocity": {
                    "x": -6.5845818519592285,
                    "y": 8.107902526855469,
                    "z": 0.07149948179721832
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1297.763427734375,
                        "y": 6463.4892578125,
                        "z": 373.04693603515625
                    },
                    "rotation": {
                        "roll": 3.3354645712080355e-09,
                        "pitch": 0.8998227119445801,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1313.080810546875,
                        "y": 6465.390625,
                        "z": 373.2712707519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.42789629101753235,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            17.506783139110592,
            2.940640718211699
        ],
        "target_point_next": [
            43.07924904361788,
            10.508762301124788
        ]
    },
    "325": {
        "acceleration": [
            -0.3882026672363281,
            -1.2587165832519531,
            0.03502100706100464
        ],
        "angular_velocity": [
            0.27178171277046204,
            0.1472315639257431,
            9.75049877166748
        ],
        "forward_vector": [
            -0.8766555190086365,
            0.48088571429252625,
            0.014969504438340664
        ],
        "right_vector": [
            -0.4807947874069214,
            -0.8767827153205872,
            0.009409354068338871
        ],
        "location": [
            -859.2227172851562,
            6463.03759765625,
            361.6560363769531
        ],
        "rotation": [
            -0.5391846299171448,
            0.8577214479446411,
            151.2532196044922
        ],
        "velocity": [
            -8.519904136657715,
            4.568536758422852,
            0.14718538522720337
        ],
        "speed": 9.667486468100073,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.349857028383681,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5357275009155273,
                "transform": {
                    "location": {
                        "x": -858.2579345703125,
                        "y": 6493.61669921875,
                        "z": 361.2077331542969
                    },
                    "rotation": {
                        "roll": 0.0010364595800638199,
                        "pitch": 1.2432514429092407,
                        "yaw": -179.56512451171875
                    }
                },
                "velocity": {
                    "x": -0.011320380493998528,
                    "y": -0.00043125334195792675,
                    "z": -0.5356076955795288
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.05225981026887894,
                "transform": {
                    "location": {
                        "x": -858.2283935546875,
                        "y": 6490.1171875,
                        "z": 361.23492431640625
                    },
                    "rotation": {
                        "roll": -0.0010375974234193563,
                        "pitch": 1.205514669418335,
                        "yaw": -179.5653839111328
                    }
                },
                "velocity": {
                    "x": -0.0010653999634087086,
                    "y": -0.00016143280663527548,
                    "z": -0.05224870145320892
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1299.3602294921875,
                        "y": 6470.35791015625,
                        "z": 373.0372314453125
                    },
                    "rotation": {
                        "roll": 3.3354645712080355e-09,
                        "pitch": 0.8998227119445801,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1300.2015380859375,
                        "y": 6466.7509765625,
                        "z": 373.0237121582031
                    },
                    "rotation": {
                        "roll": 3.3354645712080355e-09,
                        "pitch": 0.8998227119445801,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.319342613220215,
                "transform": {
                    "location": {
                        "x": -859.205322265625,
                        "y": 6486.609375,
                        "z": 361.3132629394531
                    },
                    "rotation": {
                        "roll": -3.0517181585310027e-05,
                        "pitch": 1.2869783639907837,
                        "yaw": -179.57293701171875
                    }
                },
                "velocity": {
                    "x": -9.316826820373535,
                    "y": -0.07045171409845352,
                    "z": 0.2047359049320221
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.1583954095840454,
                "transform": {
                    "location": {
                        "x": -831.418701171875,
                        "y": 6486.8193359375,
                        "z": 360.94952392578125
                    },
                    "rotation": {
                        "roll": 0.00028766324976459146,
                        "pitch": 0.48554447293281555,
                        "yaw": -179.5680389404297
                    }
                },
                "velocity": {
                    "x": -1.1582698822021484,
                    "y": -0.010038520209491253,
                    "z": 0.013783559203147888
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33563,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1247.4005126953125,
                        "y": 6468.806640625,
                        "z": 371.95050048828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1228.506591796875,
                        "y": 6470.80224609375,
                        "z": 371.4949035644531
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1205.663818359375,
                        "y": 6473.21533203125,
                        "z": 370.89208984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1181.8472900390625,
                        "y": 6475.72998046875,
                        "z": 370.1981506347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.2738037109375,
                        "y": 6478.74755859375,
                        "z": 369.2698059082031
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1128.6129150390625,
                        "y": 6481.22998046875,
                        "z": 368.3880310058594
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1102.901611328125,
                        "y": 6483.205078125,
                        "z": 367.42919921875
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1084.01904296875,
                        "y": 6484.2255859375,
                        "z": 366.7132873535156
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1063.990234375,
                        "y": 6484.91552734375,
                        "z": 365.93359375
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1043.020751953125,
                        "y": 6485.21533203125,
                        "z": 365.0779113769531
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1011.8826293945312,
                        "y": 6485.451171875,
                        "z": 364.1358642578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -988.9005126953125,
                        "y": 6485.62548828125,
                        "z": 363.7372131347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -968.861083984375,
                        "y": 6485.77783203125,
                        "z": 363.4235534667969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -943.8873901367188,
                        "y": 6485.96728515625,
                        "z": 363.0326232910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.594903945922852,
                "transform": {
                    "location": {
                        "x": -915.2600708007812,
                        "y": 6486.19482421875,
                        "z": 362.5928039550781
                    },
                    "rotation": {
                        "roll": -0.9581907391548157,
                        "pitch": 1.2208279371261597,
                        "yaw": -179.44964599609375
                    }
                },
                "velocity": {
                    "x": -9.593445777893066,
                    "y": -0.06215104088187218,
                    "z": 0.15532898902893066
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.64552116394043,
                "transform": {
                    "location": {
                        "x": -876.8411254882812,
                        "y": 6486.47509765625,
                        "z": 361.72125244140625
                    },
                    "rotation": {
                        "roll": 0.0004851591365877539,
                        "pitch": 1.3384301662445068,
                        "yaw": -179.55560302734375
                    }
                },
                "velocity": {
                    "x": -9.642719268798828,
                    "y": -0.0728965699672699,
                    "z": 0.22072406113147736
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.605713844299316,
                "transform": {
                    "location": {
                        "x": -828.583740234375,
                        "y": 6428.01123046875,
                        "z": 361.32415771484375
                    },
                    "rotation": {
                        "roll": -0.1942443996667862,
                        "pitch": -0.19806180894374847,
                        "yaw": 111.98479461669922
                    }
                },
                "velocity": {
                    "x": -3.6089863777160645,
                    "y": 8.901942253112793,
                    "z": -0.019513048231601715
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.590313911437988,
                "transform": {
                    "location": {
                        "x": -840.970458984375,
                        "y": 6447.65869140625,
                        "z": 361.4142150878906
                    },
                    "rotation": {
                        "roll": -0.6232603788375854,
                        "pitch": 0.6382128596305847,
                        "yaw": 131.74644470214844
                    }
                },
                "velocity": {
                    "x": -7.116244792938232,
                    "y": 7.842751979827881,
                    "z": 0.07099854946136475
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1299.833740234375,
                        "y": 6463.27001953125,
                        "z": 373.0237121582031
                    },
                    "rotation": {
                        "roll": 3.3354645712080355e-09,
                        "pitch": 0.8998227119445801,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.44262099266052246,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            15.174140532874352,
            2.34685237546959
        ],
        "target_point_next": [
            40.99687711734456,
            9.011216712749349
        ]
    },
    "330": {
        "acceleration": [
            -0.4430389404296875,
            -1.3247394561767578,
            0.03421753644943237
        ],
        "angular_velocity": [
            0.05071863532066345,
            0.24966949224472046,
            5.78483247756958
        ],
        "forward_vector": [
            -0.8920342922210693,
            0.45168012380599976,
            0.016121044754981995
        ],
        "right_vector": [
            -0.45159003138542175,
            -0.8921796083450317,
            0.009056109935045242
        ],
        "location": [
            -861.36328125,
            6464.1455078125,
            361.6939392089844
        ],
        "rotation": [
            -0.518951416015625,
            0.923707902431488,
            153.1446990966797
        ],
        "velocity": [
            -8.62507152557373,
            4.249702453613281,
            0.15667356550693512
        ],
        "speed": 9.615187453477414,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.3543233496142375,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.40257927775382996,
                "transform": {
                    "location": {
                        "x": -858.2572631835938,
                        "y": 6493.61669921875,
                        "z": 361.23870849609375
                    },
                    "rotation": {
                        "roll": 0.0013280031271278858,
                        "pitch": 1.2421176433563232,
                        "yaw": -179.56512451171875
                    }
                },
                "velocity": {
                    "x": 0.008596573024988174,
                    "y": 0.00021525028569158167,
                    "z": 0.4024873971939087
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.3224451541900635,
                "transform": {
                    "location": {
                        "x": -858.2324829101562,
                        "y": 6490.1171875,
                        "z": 361.2658386230469
                    },
                    "rotation": {
                        "roll": -0.0007629398023709655,
                        "pitch": 1.2191203832626343,
                        "yaw": -179.5645294189453
                    }
                },
                "velocity": {
                    "x": -0.3025880455970764,
                    "y": -0.006075588520616293,
                    "z": 0.1112404614686966
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1300.6031494140625,
                        "y": 6470.2275390625,
                        "z": 373.0232849121094
                    },
                    "rotation": {
                        "roll": 3.3354645712080355e-09,
                        "pitch": 0.8998227119445801,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1301.0302734375,
                        "y": 6466.66259765625,
                        "z": 373.0143737792969
                    },
                    "rotation": {
                        "roll": 3.3354645712080355e-09,
                        "pitch": 0.8998227119445801,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.264662742614746,
                "transform": {
                    "location": {
                        "x": -861.5274658203125,
                        "y": 6486.591796875,
                        "z": 361.3655090332031
                    },
                    "rotation": {
                        "roll": 0.000797552871517837,
                        "pitch": 1.3331845998764038,
                        "yaw": -179.5511016845703
                    }
                },
                "velocity": {
                    "x": -9.26190185546875,
                    "y": -0.07014604657888412,
                    "z": 0.2150292694568634
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.0612452030181885,
                "transform": {
                    "location": {
                        "x": -831.8262329101562,
                        "y": 6486.81689453125,
                        "z": 360.95269775390625
                    },
                    "rotation": {
                        "roll": 0.00045624704216606915,
                        "pitch": 0.5140126943588257,
                        "yaw": -179.5564727783203
                    }
                },
                "velocity": {
                    "x": -2.061140775680542,
                    "y": -0.014939325861632824,
                    "z": 0.014380493201315403
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1230.991943359375,
                        "y": 6470.5400390625,
                        "z": 371.55670166015625
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1208.149169921875,
                        "y": 6472.9521484375,
                        "z": 370.9608459472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1184.33251953125,
                        "y": 6475.46728515625,
                        "z": 370.2733154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.758544921875,
                        "y": 6478.4853515625,
                        "z": 369.3547058105469
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1131.1007080078125,
                        "y": 6481.001953125,
                        "z": 368.4781799316406
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1105.3944091796875,
                        "y": 6483.0390625,
                        "z": 367.52362060546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1086.51416015625,
                        "y": 6484.10986328125,
                        "z": 366.8078918457031
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1066.486572265625,
                        "y": 6484.84912109375,
                        "z": 366.0345764160156
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1045.517578125,
                        "y": 6485.1953125,
                        "z": 365.1765441894531
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1014.3818359375,
                        "y": 6485.431640625,
                        "z": 364.19171142578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -991.400146484375,
                        "y": 6485.60693359375,
                        "z": 363.7762756347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -971.3606567382812,
                        "y": 6485.7587890625,
                        "z": 363.4626770019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -946.3870239257812,
                        "y": 6485.94775390625,
                        "z": 363.0717468261719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.60876178741455,
                "transform": {
                    "location": {
                        "x": -917.6593017578125,
                        "y": 6486.17529296875,
                        "z": 362.64068603515625
                    },
                    "rotation": {
                        "roll": -1.1426997184753418,
                        "pitch": 1.1403205394744873,
                        "yaw": -179.4793243408203
                    }
                },
                "velocity": {
                    "x": -9.60605525970459,
                    "y": -0.05385637655854225,
                    "z": 0.22158768773078918
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.643781661987305,
                "transform": {
                    "location": {
                        "x": -879.2514038085938,
                        "y": 6486.45654296875,
                        "z": 361.7760925292969
                    },
                    "rotation": {
                        "roll": 0.001144274603575468,
                        "pitch": 1.329612374305725,
                        "yaw": -179.58233642578125
                    }
                },
                "velocity": {
                    "x": -9.641090393066406,
                    "y": -0.07213766127824783,
                    "z": 0.2161124050617218
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.98607063293457,
                "transform": {
                    "location": {
                        "x": -829.5460205078125,
                        "y": 6430.2373046875,
                        "z": 361.3213195800781
                    },
                    "rotation": {
                        "roll": -0.238250732421875,
                        "pitch": -0.0021105282939970493,
                        "yaw": 114.2569808959961
                    }
                },
                "velocity": {
                    "x": -4.1929612159729,
                    "y": 9.06314754486084,
                    "z": -0.006853866390883923
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.567716598510742,
                "transform": {
                    "location": {
                        "x": -842.6845703125,
                        "y": 6449.51318359375,
                        "z": 361.4330749511719
                    },
                    "rotation": {
                        "roll": -0.5478515028953552,
                        "pitch": 0.1922493278980255,
                        "yaw": 133.324462890625
                    }
                },
                "velocity": {
                    "x": -6.691996097564697,
                    "y": 6.837705135345459,
                    "z": 0.06465908139944077
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1301.0765380859375,
                        "y": 6463.138671875,
                        "z": 373.00970458984375
                    },
                    "rotation": {
                        "roll": 3.3354645712080355e-09,
                        "pitch": 0.8998227119445801,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.44933244585990906,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            12.83314321903918,
            1.866175633645943
        ],
        "target_point_next": [
            38.86177667756302,
            7.674593405531477
        ]
    },
    "335": {
        "acceleration": [
            -0.36563873291015625,
            -1.382904052734375,
            0.03390908241271973
        ],
        "angular_velocity": [
            0.1856331080198288,
            0.1940651834011078,
            10.63998794555664
        ],
        "forward_vector": [
            -0.9079490900039673,
            0.4187236428260803,
            0.017288776114583015
        ],
        "right_vector": [
            -0.4186246991157532,
            -0.9081130623817444,
            0.009168298915028572
        ],
        "location": [
            -863.5309448242188,
            6465.17041015625,
            361.7341613769531
        ],
        "rotation": [
            -0.5253907442092896,
            0.9906232357025146,
            155.2420196533203
        ],
        "velocity": [
            -8.729812622070312,
            3.908759117126465,
            0.16618993878364563
        ],
        "speed": 9.564937336552571,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.3587916004759575,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6052213311195374,
                "transform": {
                    "location": {
                        "x": -858.3062133789062,
                        "y": 6493.6162109375,
                        "z": 361.3092346191406
                    },
                    "rotation": {
                        "roll": -0.0032348623499274254,
                        "pitch": 1.3274061679840088,
                        "yaw": -179.52169799804688
                    }
                },
                "velocity": {
                    "x": -0.5913484692573547,
                    "y": -0.012190249748528004,
                    "z": 0.12826257944107056
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.351758360862732,
                "transform": {
                    "location": {
                        "x": -858.5075073242188,
                        "y": 6490.11181640625,
                        "z": 361.28521728515625
                    },
                    "rotation": {
                        "roll": 0.0006844040472060442,
                        "pitch": 1.2752236127853394,
                        "yaw": -179.4151611328125
                    }
                },
                "velocity": {
                    "x": -1.3504431247711182,
                    "y": -0.034450095146894455,
                    "z": 0.0486539751291275
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1301.431640625,
                        "y": 6470.140625,
                        "z": 373.01397705078125
                    },
                    "rotation": {
                        "roll": 3.3354645712080355e-09,
                        "pitch": 0.8998227119445801,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1302.2734375,
                        "y": 6466.53173828125,
                        "z": 373.0115966796875
                    },
                    "rotation": {
                        "roll": 3.3354645712080355e-09,
                        "pitch": 0.8998227119445801,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.281465530395508,
                "transform": {
                    "location": {
                        "x": -863.8441772460938,
                        "y": 6486.57421875,
                        "z": 361.419921875
                    },
                    "rotation": {
                        "roll": 0.00026345482910983264,
                        "pitch": 1.3621035814285278,
                        "yaw": -179.5830078125
                    }
                },
                "velocity": {
                    "x": -9.278675079345703,
                    "y": -0.06859958171844482,
                    "z": 0.2169981747865677
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.2795560359954834,
                "transform": {
                    "location": {
                        "x": -832.4881591796875,
                        "y": 6486.8115234375,
                        "z": 360.9567565917969
                    },
                    "rotation": {
                        "roll": 0.0005401909584179521,
                        "pitch": 0.5715979933738708,
                        "yaw": -179.558349609375
                    }
                },
                "velocity": {
                    "x": -3.279383420944214,
                    "y": -0.02517358772456646,
                    "z": 0.02235989458858967
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1233.477294921875,
                        "y": 6470.27783203125,
                        "z": 371.6177978515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1210.634521484375,
                        "y": 6472.68994140625,
                        "z": 371.0285339355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1186.81787109375,
                        "y": 6475.205078125,
                        "z": 370.3484191894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.2432861328125,
                        "y": 6478.22216796875,
                        "z": 369.4391174316406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1133.5880126953125,
                        "y": 6480.76904296875,
                        "z": 368.5682373046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1107.8870849609375,
                        "y": 6482.8740234375,
                        "z": 367.6183166503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1089.009033203125,
                        "y": 6483.99072265625,
                        "z": 366.90234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1068.9827880859375,
                        "y": 6484.77978515625,
                        "z": 366.1346435546875
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1048.0145263671875,
                        "y": 6485.1767578125,
                        "z": 365.2771911621094
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1016.8807373046875,
                        "y": 6485.4130859375,
                        "z": 364.2522888183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -993.8997192382812,
                        "y": 6485.587890625,
                        "z": 363.81549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -973.8602905273438,
                        "y": 6485.73974609375,
                        "z": 363.5018005371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -948.8865966796875,
                        "y": 6485.9296875,
                        "z": 363.11083984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.606587409973145,
                "transform": {
                    "location": {
                        "x": -920.061767578125,
                        "y": 6486.1591796875,
                        "z": 362.68878173828125
                    },
                    "rotation": {
                        "roll": -1.0871888399124146,
                        "pitch": 1.1367278099060059,
                        "yaw": -179.49261474609375
                    }
                },
                "velocity": {
                    "x": -9.604500770568848,
                    "y": -0.07072535157203674,
                    "z": 0.18730810284614563
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.644627571105957,
                "transform": {
                    "location": {
                        "x": -881.661376953125,
                        "y": 6486.439453125,
                        "z": 361.83001708984375
                    },
                    "rotation": {
                        "roll": 0.0011068126186728477,
                        "pitch": 1.2829349040985107,
                        "yaw": -179.5646209716797
                    }
                },
                "velocity": {
                    "x": -9.641988754272461,
                    "y": -0.07136953622102737,
                    "z": 0.21398232877254486
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.466922760009766,
                "transform": {
                    "location": {
                        "x": -830.6801147460938,
                        "y": 6432.58056640625,
                        "z": 361.3219299316406
                    },
                    "rotation": {
                        "roll": -0.16827392578125,
                        "pitch": 0.12861928343772888,
                        "yaw": 116.38789367675781
                    }
                },
                "velocity": {
                    "x": -4.655256748199463,
                    "y": 9.374698638916016,
                    "z": 0.009230928495526314
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.78339672088623,
                "transform": {
                    "location": {
                        "x": -844.385009765625,
                        "y": 6451.1875,
                        "z": 361.4488220214844
                    },
                    "rotation": {
                        "roll": -0.57061767578125,
                        "pitch": 0.32003533840179443,
                        "yaw": 135.98471069335938
                    }
                },
                "velocity": {
                    "x": -7.094671249389648,
                    "y": 6.736158847808838,
                    "z": 0.06819038093090057
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1301.9052734375,
                        "y": 6463.0517578125,
                        "z": 373.0115966796875
                    },
                    "rotation": {
                        "roll": 3.3354645712080355e-09,
                        "pitch": 0.8998227119445801,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.43861696124076843,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            10.49520561081804,
            1.4181789521791544
        ],
        "target_point_next": [
            36.718974186182784,
            6.270130975504914
        ]
    },
    "340": {
        "acceleration": [
            -0.23273468017578125,
            -1.428532600402832,
            0.016410648822784424
        ],
        "angular_velocity": [
            -0.05794737488031387,
            0.22946283221244812,
            6.217539310455322
        ],
        "forward_vector": [
            -0.9226050972938538,
            0.38531172275543213,
            0.01829390972852707
        ],
        "right_vector": [
            -0.3852041959762573,
            -0.9227852821350098,
            0.009217657148838043
        ],
        "location": [
            -865.7205200195312,
            6466.1083984375,
            361.7768249511719
        ],
        "rotation": [
            -0.528228759765625,
            1.048222303390503,
            157.33290100097656
        ],
        "velocity": [
            -8.800196647644043,
            3.5561108589172363,
            0.17500363290309906
        ],
        "speed": 9.491542839713391,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.3631607187396777,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1584675312042236,
                "transform": {
                    "location": {
                        "x": -858.5170288085938,
                        "y": 6493.6123046875,
                        "z": 361.3122863769531
                    },
                    "rotation": {
                        "roll": -0.004577636253088713,
                        "pitch": 1.4079887866973877,
                        "yaw": -179.4591827392578
                    }
                },
                "velocity": {
                    "x": -1.1576297283172607,
                    "y": -0.02506956458091736,
                    "z": -0.03622038662433624
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.6244637966156006,
                "transform": {
                    "location": {
                        "x": -859.003173828125,
                        "y": 6490.1005859375,
                        "z": 361.29779052734375
                    },
                    "rotation": {
                        "roll": 0.0044785975478589535,
                        "pitch": 1.3329181671142578,
                        "yaw": -179.2881317138672
                    }
                },
                "velocity": {
                    "x": -2.622959852218628,
                    "y": -0.06481587886810303,
                    "z": 0.06074599176645279
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1302.674560546875,
                        "y": 6470.00927734375,
                        "z": 373.0111999511719
                    },
                    "rotation": {
                        "roll": 3.3354645712080355e-09,
                        "pitch": 0.8998227119445801,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1303.10205078125,
                        "y": 6466.44384765625,
                        "z": 373.0234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.35607624053955,
                "transform": {
                    "location": {
                        "x": -866.173828125,
                        "y": 6486.55615234375,
                        "z": 361.4750061035156
                    },
                    "rotation": {
                        "roll": -0.0015563968336209655,
                        "pitch": 1.3891305923461914,
                        "yaw": -179.5477752685547
                    }
                },
                "velocity": {
                    "x": -9.353105545043945,
                    "y": -0.07239912450313568,
                    "z": 0.22436459362506866
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.619883060455322,
                "transform": {
                    "location": {
                        "x": -833.485107421875,
                        "y": 6486.80419921875,
                        "z": 360.9642639160156
                    },
                    "rotation": {
                        "roll": 0.00012697873171418905,
                        "pitch": 0.5927510857582092,
                        "yaw": -179.5602264404297
                    }
                },
                "velocity": {
                    "x": -4.619600296020508,
                    "y": -0.035343024879693985,
                    "z": 0.0369056798517704
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.962646484375,
                        "y": 6470.015625,
                        "z": 371.6780700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1213.119873046875,
                        "y": 6472.4267578125,
                        "z": 371.09588623046875
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1189.30322265625,
                        "y": 6474.9423828125,
                        "z": 370.42193603515625
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.72802734375,
                        "y": 6477.9599609375,
                        "z": 369.5223693847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1136.0745849609375,
                        "y": 6480.52880859375,
                        "z": 368.6583251953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1110.379150390625,
                        "y": 6482.697265625,
                        "z": 367.7127685546875
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1091.5035400390625,
                        "y": 6483.8623046875,
                        "z": 366.9969787597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1071.4791259765625,
                        "y": 6484.70166015625,
                        "z": 366.2330627441406
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1050.51123046875,
                        "y": 6485.150390625,
                        "z": 365.37939453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1019.379638671875,
                        "y": 6485.39404296875,
                        "z": 364.3148498535156
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -996.3993530273438,
                        "y": 6485.56884765625,
                        "z": 363.85455322265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -976.3599243164062,
                        "y": 6485.7197265625,
                        "z": 363.5409240722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -951.38623046875,
                        "y": 6485.90966796875,
                        "z": 363.14990234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.631373405456543,
                "transform": {
                    "location": {
                        "x": -922.4609985351562,
                        "y": 6486.1435546875,
                        "z": 362.7320251464844
                    },
                    "rotation": {
                        "roll": -0.593353271484375,
                        "pitch": 0.9561376571655273,
                        "yaw": -179.46456909179688
                    }
                },
                "velocity": {
                    "x": -9.630697250366211,
                    "y": -0.09961206465959549,
                    "z": 0.055750273168087006
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.644821166992188,
                "transform": {
                    "location": {
                        "x": -884.0719604492188,
                        "y": 6486.42041015625,
                        "z": 361.8828430175781
                    },
                    "rotation": {
                        "roll": -0.0005187988863326609,
                        "pitch": 1.281445860862732,
                        "yaw": -179.5789794921875
                    }
                },
                "velocity": {
                    "x": -9.64223575592041,
                    "y": -0.07274310290813446,
                    "z": 0.21109338104724884
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.29349422454834,
                "transform": {
                    "location": {
                        "x": -831.8634033203125,
                        "y": 6434.85107421875,
                        "z": 361.32647705078125
                    },
                    "rotation": {
                        "roll": -0.2245483249425888,
                        "pitch": 0.15019585192203522,
                        "yaw": 118.4281005859375
                    }
                },
                "velocity": {
                    "x": -4.979018211364746,
                    "y": 9.009146690368652,
                    "z": 0.02584652788937092
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.697816848754883,
                "transform": {
                    "location": {
                        "x": -846.234375,
                        "y": 6452.91748046875,
                        "z": 361.4661560058594
                    },
                    "rotation": {
                        "roll": -0.49563589692115784,
                        "pitch": 0.6485400795936584,
                        "yaw": 137.28414916992188
                    }
                },
                "velocity": {
                    "x": -7.990685939788818,
                    "y": 7.112355709075928,
                    "z": 0.08137165009975433
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1303.148193359375,
                        "y": 6462.91943359375,
                        "z": 373.02935791015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4235439598560333,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            8.158030105367947,
            1.0560473152884193
        ],
        "target_point_next": [
            34.541361315045336,
            4.948001967054811
        ]
    },
    "345": {
        "acceleration": [
            0.20132064819335938,
            -1.5296220779418945,
            0.037368834018707275
        ],
        "angular_velocity": [
            0.10049771517515182,
            0.10443434864282608,
            10.62541389465332
        ],
        "forward_vector": [
            -0.9362215995788574,
            0.350894033908844,
            0.01903776451945305
        ],
        "right_vector": [
            -0.3507804870605469,
            -0.9364132881164551,
            0.009117948822677135
        ],
        "location": [
            -867.9193725585938,
            6466.95654296875,
            361.82159423828125
        ],
        "rotation": [
            -0.52252197265625,
            1.0908493995666504,
            159.4541015625
        ],
        "velocity": [
            -8.792333602905273,
            3.182339906692505,
            0.1831274926662445
        ],
        "speed": 9.350530330762256,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.367586307061453,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.2713375091552734,
                "transform": {
                    "location": {
                        "x": -858.9369506835938,
                        "y": 6493.603515625,
                        "z": 361.30877685546875
                    },
                    "rotation": {
                        "roll": -0.0022583012469112873,
                        "pitch": 1.4958250522613525,
                        "yaw": -179.3068084716797
                    }
                },
                "velocity": {
                    "x": -2.270611524581909,
                    "y": -0.051121652126312256,
                    "z": 0.026147784665226936
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.765820026397705,
                "transform": {
                    "location": {
                        "x": -859.8214111328125,
                        "y": 6490.08154296875,
                        "z": 361.3158874511719
                    },
                    "rotation": {
                        "roll": 0.009877044707536697,
                        "pitch": 1.378857970237732,
                        "yaw": -179.3063507080078
                    }
                },
                "velocity": {
                    "x": -3.7643496990203857,
                    "y": -0.06179894134402275,
                    "z": 0.08515487611293793
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1303.503173828125,
                        "y": 6469.92041015625,
                        "z": 373.0232238769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.3448486328125,
                        "y": 6466.3125,
                        "z": 373.0412292480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.255228996276855,
                "transform": {
                    "location": {
                        "x": -868.4990234375,
                        "y": 6486.53857421875,
                        "z": 361.5306091308594
                    },
                    "rotation": {
                        "roll": 8.713181159691885e-05,
                        "pitch": 1.3672603368759155,
                        "yaw": -179.57855224609375
                    }
                },
                "velocity": {
                    "x": -9.252355575561523,
                    "y": -0.06917731463909149,
                    "z": 0.21998657286167145
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.251804351806641,
                "transform": {
                    "location": {
                        "x": -834.7680053710938,
                        "y": 6486.79345703125,
                        "z": 360.9753723144531
                    },
                    "rotation": {
                        "roll": -0.0007629393949173391,
                        "pitch": 0.5535594820976257,
                        "yaw": -179.63658142089844
                    }
                },
                "velocity": {
                    "x": -5.251437187194824,
                    "y": -0.03859905153512955,
                    "z": 0.04867666959762573
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1238.447998046875,
                        "y": 6469.75244140625,
                        "z": 371.73779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1215.605224609375,
                        "y": 6472.1640625,
                        "z": 371.1621398925781
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1191.78857421875,
                        "y": 6474.6796875,
                        "z": 370.4954528808594
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.212646484375,
                        "y": 6477.697265625,
                        "z": 369.6051025390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1138.560791015625,
                        "y": 6480.2841796875,
                        "z": 368.7482604980469
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1112.87109375,
                        "y": 6482.51904296875,
                        "z": 367.8074951171875
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1093.998046875,
                        "y": 6483.73046875,
                        "z": 367.0914306640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1073.975341796875,
                        "y": 6484.62109375,
                        "z": 366.33056640625
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1053.008056640625,
                        "y": 6485.12255859375,
                        "z": 365.4822082519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1021.8786010742188,
                        "y": 6485.375,
                        "z": 364.3821105957031
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -998.8989868164062,
                        "y": 6485.5498046875,
                        "z": 363.89373779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -978.8594970703125,
                        "y": 6485.70166015625,
                        "z": 363.5799865722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -953.8858642578125,
                        "y": 6485.8916015625,
                        "z": 363.1890869140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.569518089294434,
                "transform": {
                    "location": {
                        "x": -924.8634033203125,
                        "y": 6486.12060546875,
                        "z": 362.7763977050781
                    },
                    "rotation": {
                        "roll": -0.8190917372703552,
                        "pitch": 0.9624419212341309,
                        "yaw": -179.46620178222656
                    }
                },
                "velocity": {
                    "x": -9.567122459411621,
                    "y": -0.057499226182699203,
                    "z": 0.20627589523792267
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.644529342651367,
                "transform": {
                    "location": {
                        "x": -886.482421875,
                        "y": 6486.40234375,
                        "z": 361.9355773925781
                    },
                    "rotation": {
                        "roll": 0.00036245150840841234,
                        "pitch": 1.2832627296447754,
                        "yaw": -179.55245971679688
                    }
                },
                "velocity": {
                    "x": -9.641910552978516,
                    "y": -0.07350456714630127,
                    "z": 0.21235527098178864
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.415874481201172,
                "transform": {
                    "location": {
                        "x": -833.1743774414062,
                        "y": 6437.126953125,
                        "z": 361.33526611328125
                    },
                    "rotation": {
                        "roll": -0.1704101264476776,
                        "pitch": 0.2514533996582031,
                        "yaw": 120.56940460205078
                    }
                },
                "velocity": {
                    "x": -5.296703338623047,
                    "y": 8.96847915649414,
                    "z": 0.04200873151421547
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.583656311035156,
                "transform": {
                    "location": {
                        "x": -848.3072509765625,
                        "y": 6454.6884765625,
                        "z": 361.48876953125
                    },
                    "rotation": {
                        "roll": -0.6082762479782104,
                        "pitch": 0.6537036895751953,
                        "yaw": 140.15406799316406
                    }
                },
                "velocity": {
                    "x": -8.169000625610352,
                    "y": 6.728457450866699,
                    "z": 0.0952615737915039
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1303.976806640625,
                        "y": 6462.83251953125,
                        "z": 373.04119873046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.42675650119781494,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            32.34418656692933,
            3.6886007370110585
        ],
        "target_point_next": [
            82.72061001452008,
            15.192103131544787
        ]
    },
    "350": {
        "acceleration": [
            -0.14719009399414062,
            -1.300206184387207,
            0.035700201988220215
        ],
        "angular_velocity": [
            0.2860381603240967,
            0.1971474289894104,
            5.7222466468811035
        ],
        "forward_vector": [
            -0.9481170177459717,
            0.31731244921684265,
            0.019668977707624435
        ],
        "right_vector": [
            -0.3171969950199127,
            -0.9483187198638916,
            0.008817501366138458
        ],
        "location": [
            -870.1047973632812,
            6467.70947265625,
            361.8679504394531
        ],
        "rotation": [
            -0.5053099393844604,
            1.12702214717865,
            161.49581909179688
        ],
        "velocity": [
            -8.722607612609863,
            2.8045241832733154,
            0.1888611763715744
        ],
        "speed": 9.162381756842725,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.3719386767983317,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.1075334548950195,
                "transform": {
                    "location": {
                        "x": -859.7366333007812,
                        "y": 6493.587890625,
                        "z": 361.3240051269531
                    },
                    "rotation": {
                        "roll": 0.007084282115101814,
                        "pitch": 1.7121098041534424,
                        "yaw": -179.10397338867188
                    }
                },
                "velocity": {
                    "x": -4.105744361877441,
                    "y": -0.06949465721845627,
                    "z": 0.0993078425526619
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.874575614929199,
                "transform": {
                    "location": {
                        "x": -860.9016723632812,
                        "y": 6490.06591796875,
                        "z": 361.3401794433594
                    },
                    "rotation": {
                        "roll": 0.010239950381219387,
                        "pitch": 1.416273832321167,
                        "yaw": -179.15501403808594
                    }
                },
                "velocity": {
                    "x": -4.872682094573975,
                    "y": -0.07581565529108047,
                    "z": 0.11272014677524567
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.340174674987793,
                "transform": {
                    "location": {
                        "x": -870.8196411132812,
                        "y": 6486.52099609375,
                        "z": 361.585693359375
                    },
                    "rotation": {
                        "roll": 0.0012194550363346934,
                        "pitch": 1.3745276927947998,
                        "yaw": -179.55184936523438
                    }
                },
                "velocity": {
                    "x": -9.337306022644043,
                    "y": -0.07072985917329788,
                    "z": 0.2203817367553711
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.645901203155518,
                "transform": {
                    "location": {
                        "x": -836.1400756835938,
                        "y": 6486.783203125,
                        "z": 360.9881896972656
                    },
                    "rotation": {
                        "roll": 0.0004702703736256808,
                        "pitch": 0.5839470028877258,
                        "yaw": -179.69911193847656
                    }
                },
                "velocity": {
                    "x": -5.645495891571045,
                    "y": -0.04095381125807762,
                    "z": 0.05381875857710838
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1240.933349609375,
                        "y": 6469.48974609375,
                        "z": 371.79693603515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1218.090576171875,
                        "y": 6471.90185546875,
                        "z": 371.2279968261719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1194.27392578125,
                        "y": 6474.41748046875,
                        "z": 370.5677795410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.6973876953125,
                        "y": 6477.43505859375,
                        "z": 369.68670654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.0462646484375,
                        "y": 6480.03125,
                        "z": 368.83837890625
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1115.362060546875,
                        "y": 6482.330078125,
                        "z": 367.9013977050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1096.4918212890625,
                        "y": 6483.59033203125,
                        "z": 367.18609619140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1076.470947265625,
                        "y": 6484.53125,
                        "z": 366.4264831542969
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1055.50439453125,
                        "y": 6485.08349609375,
                        "z": 365.5848693847656
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1024.37744140625,
                        "y": 6485.35595703125,
                        "z": 364.45135498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1001.3985595703125,
                        "y": 6485.5302734375,
                        "z": 363.9346008300781
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -981.359130859375,
                        "y": 6485.68212890625,
                        "z": 363.6190490722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -956.3854370117188,
                        "y": 6485.87158203125,
                        "z": 363.2281494140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.616960525512695,
                "transform": {
                    "location": {
                        "x": -927.259765625,
                        "y": 6486.1015625,
                        "z": 362.8160705566406
                    },
                    "rotation": {
                        "roll": -0.6596068739891052,
                        "pitch": 1.1087104082107544,
                        "yaw": -179.4806365966797
                    }
                },
                "velocity": {
                    "x": -9.614646911621094,
                    "y": -0.0690976157784462,
                    "z": 0.19927047193050385
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.6458158493042,
                "transform": {
                    "location": {
                        "x": -888.892822265625,
                        "y": 6486.3837890625,
                        "z": 361.9877014160156
                    },
                    "rotation": {
                        "roll": 0.0005078340182080865,
                        "pitch": 1.246133804321289,
                        "yaw": -179.5763397216797
                    }
                },
                "velocity": {
                    "x": -9.643359184265137,
                    "y": -0.07142122089862823,
                    "z": 0.205599844455719
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.517653465270996,
                "transform": {
                    "location": {
                        "x": -834.5524291992188,
                        "y": 6439.32177734375,
                        "z": 361.34796142578125
                    },
                    "rotation": {
                        "roll": -0.2335815131664276,
                        "pitch": 0.3494392931461334,
                        "yaw": 123.12438201904297
                    }
                },
                "velocity": {
                    "x": -5.7924346923828125,
                    "y": 8.77868366241455,
                    "z": 0.05881654471158981
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.631226539611816,
                "transform": {
                    "location": {
                        "x": -850.2836303710938,
                        "y": 6456.27685546875,
                        "z": 361.5143737792969
                    },
                    "rotation": {
                        "roll": -0.6426391005516052,
                        "pitch": 0.388398677110672,
                        "yaw": 141.88201904296875
                    }
                },
                "velocity": {
                    "x": -7.69179105758667,
                    "y": 5.795441150665283,
                    "z": 0.09860969334840775
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.40007713437080383,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            30.143668390012913,
            2.5543258884144153
        ],
        "target_point_next": [
            80.8979503924211,
            12.25574151357126
        ]
    },
    "355": {
        "acceleration": [
            3.447561264038086,
            -1.7355871200561523,
            -0.071544349193573
        ],
        "angular_velocity": [
            0.4758572280406952,
            -0.7481757998466492,
            8.004528999328613
        ],
        "forward_vector": [
            -0.9573308229446411,
            0.2885158658027649,
            0.016621775925159454
        ],
        "right_vector": [
            -0.28843405842781067,
            -0.9574728608131409,
            0.00717829680070281
        ],
        "location": [
            -872.17724609375,
            6468.3486328125,
            361.91436767578125
        ],
        "rotation": [
            -0.4113464653491974,
            0.9524015188217163,
            163.22848510742188
        ],
        "velocity": [
            -7.8091020584106445,
            2.2785513401031494,
            0.173845112323761
        ],
        "speed": 8.1347323968376,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.376033341773867,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.39254903793335,
                "transform": {
                    "location": {
                        "x": -860.9766235351562,
                        "y": 6493.56787109375,
                        "z": 361.3537902832031
                    },
                    "rotation": {
                        "roll": 0.02034071460366249,
                        "pitch": 1.7233318090438843,
                        "yaw": -179.088623046875
                    }
                },
                "velocity": {
                    "x": -5.390298366546631,
                    "y": -0.08745208382606506,
                    "z": 0.1289111226797104
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.5061235427856445,
                "transform": {
                    "location": {
                        "x": -862.271484375,
                        "y": 6490.044921875,
                        "z": 361.3717346191406
                    },
                    "rotation": {
                        "roll": 0.010491657070815563,
                        "pitch": 1.4269561767578125,
                        "yaw": -179.12083435058594
                    }
                },
                "velocity": {
                    "x": -6.5035929679870605,
                    "y": -0.10134679824113846,
                    "z": 0.15049181878566742
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.27570629119873,
                "transform": {
                    "location": {
                        "x": -873.1476440429688,
                        "y": 6486.50341796875,
                        "z": 361.64019775390625
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": 1.3141077756881714,
                        "yaw": -179.5835418701172
                    }
                },
                "velocity": {
                    "x": -9.272957801818848,
                    "y": -0.06970805674791336,
                    "z": 0.2147393375635147
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.06513786315918,
                "transform": {
                    "location": {
                        "x": -837.8920288085938,
                        "y": 6486.77099609375,
                        "z": 361.0031433105469
                    },
                    "rotation": {
                        "roll": -0.0019226070726290345,
                        "pitch": 0.8129427433013916,
                        "yaw": -179.62095642089844
                    }
                },
                "velocity": {
                    "x": -8.064493179321289,
                    "y": -0.05916725844144821,
                    "z": 0.08304835855960846
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1243.418701171875,
                        "y": 6469.2265625,
                        "z": 371.85595703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1220.575927734375,
                        "y": 6471.63916015625,
                        "z": 371.292724609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1196.75927734375,
                        "y": 6474.15478515625,
                        "z": 370.6401062011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.1822509765625,
                        "y": 6477.1728515625,
                        "z": 369.7677917480469
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1143.5313720703125,
                        "y": 6479.77587890625,
                        "z": 368.9279479980469
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1117.8529052734375,
                        "y": 6482.13916015625,
                        "z": 367.9954528808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1098.9852294921875,
                        "y": 6483.44482421875,
                        "z": 367.2805480957031
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1078.966552734375,
                        "y": 6484.43798828125,
                        "z": 366.52166748046875
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1058.000732421875,
                        "y": 6485.04345703125,
                        "z": 365.6877136230469
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1026.876220703125,
                        "y": 6485.337890625,
                        "z": 364.5252685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1003.898193359375,
                        "y": 6485.51171875,
                        "z": 363.97613525390625
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -983.8587036132812,
                        "y": 6485.66357421875,
                        "z": 363.65826416015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -958.8850708007812,
                        "y": 6485.853515625,
                        "z": 363.2673645019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.608965873718262,
                "transform": {
                    "location": {
                        "x": -929.6636352539062,
                        "y": 6486.08349609375,
                        "z": 362.85894775390625
                    },
                    "rotation": {
                        "roll": -0.6311644911766052,
                        "pitch": 0.8939487934112549,
                        "yaw": -179.47540283203125
                    }
                },
                "velocity": {
                    "x": -9.60741138458252,
                    "y": -0.07684975862503052,
                    "z": 0.154793843626976
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.645597457885742,
                "transform": {
                    "location": {
                        "x": -891.3034057617188,
                        "y": 6486.36572265625,
                        "z": 362.03863525390625
                    },
                    "rotation": {
                        "roll": 0.000790997117292136,
                        "pitch": 1.224359154701233,
                        "yaw": -179.5576934814453
                    }
                },
                "velocity": {
                    "x": -9.643213272094727,
                    "y": -0.07390418648719788,
                    "z": 0.20131097733974457
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.610909461975098,
                "transform": {
                    "location": {
                        "x": -835.9810180664062,
                        "y": 6441.4228515625,
                        "z": 361.3636169433594
                    },
                    "rotation": {
                        "roll": -0.1495361328125,
                        "pitch": 0.29043328762054443,
                        "yaw": 124.7743911743164
                    }
                },
                "velocity": {
                    "x": -5.478195667266846,
                    "y": 7.896500587463379,
                    "z": 0.06501758098602295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.526398658752441,
                "transform": {
                    "location": {
                        "x": -852.1826171875,
                        "y": 6457.66748046875,
                        "z": 361.5396728515625
                    },
                    "rotation": {
                        "roll": -0.526031494140625,
                        "pitch": 0.48790088295936584,
                        "yaw": 144.29425048828125
                    }
                },
                "velocity": {
                    "x": -7.773690223693848,
                    "y": 5.505471706390381,
                    "z": 0.10861822217702866
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.43550223112106323,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            28.038392296687302,
            1.6556918818724524
        ],
        "target_point_next": [
            79.06280021892859,
            9.818069164057825
        ]
    },
    "360": {
        "acceleration": [
            2.236337661743164,
            -1.1839938163757324,
            -0.0676003098487854
        ],
        "angular_velocity": [
            0.28139573335647583,
            -0.22243539988994598,
            1.0543044805526733
        ],
        "forward_vector": [
            -0.9626057744026184,
            0.27046939730644226,
            0.015380251221358776
        ],
        "right_vector": [
            -0.2704238295555115,
            -0.9627284407615662,
            0.005007194355130196
        ],
        "location": [
            -874.0401611328125,
            6468.8779296875,
            361.9549255371094
        ],
        "rotation": [
            -0.2869262397289276,
            0.8812582492828369,
            164.30589294433594
        ],
        "velocity": [
            -7.1739020347595215,
            1.9468799829483032,
            0.15220753848552704
        ],
        "speed": 7.4333849673168135,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.3796048419584173,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.739443302154541,
                "transform": {
                    "location": {
                        "x": -862.4750366210938,
                        "y": 6493.54443359375,
                        "z": 361.3899841308594
                    },
                    "rotation": {
                        "roll": 0.012767098844051361,
                        "pitch": 1.5943504571914673,
                        "yaw": -179.0717010498047
                    }
                },
                "velocity": {
                    "x": -6.736757755279541,
                    "y": -0.10641317069530487,
                    "z": 0.15769287943840027
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.240928649902344,
                "transform": {
                    "location": {
                        "x": -864.150390625,
                        "y": 6490.015625,
                        "z": 361.4157409667969
                    },
                    "rotation": {
                        "roll": 0.011264068074524403,
                        "pitch": 1.4758535623550415,
                        "yaw": -179.09861755371094
                    }
                },
                "velocity": {
                    "x": -8.237555503845215,
                    "y": -0.13247458636760712,
                    "z": 0.1950421929359436
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.329131126403809,
                "transform": {
                    "location": {
                        "x": -875.466552734375,
                        "y": 6486.486328125,
                        "z": 361.6931457519531
                    },
                    "rotation": {
                        "roll": 0.0006963920895941556,
                        "pitch": 1.32577383518219,
                        "yaw": -179.5597686767578
                    }
                },
                "velocity": {
                    "x": -9.326448440551758,
                    "y": -0.06918506324291229,
                    "z": 0.2127573937177658
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.394909858703613,
                "transform": {
                    "location": {
                        "x": -840.074951171875,
                        "y": 6486.75537109375,
                        "z": 361.0273742675781
                    },
                    "rotation": {
                        "roll": -0.00021362309053074569,
                        "pitch": 0.8085577487945557,
                        "yaw": -179.5853271484375
                    }
                },
                "velocity": {
                    "x": -9.393972396850586,
                    "y": -0.06967000663280487,
                    "z": 0.11294443160295486
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1245.904052734375,
                        "y": 6468.96484375,
                        "z": 371.9149475097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1223.061279296875,
                        "y": 6471.37744140625,
                        "z": 371.3570861816406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1199.24462890625,
                        "y": 6473.892578125,
                        "z": 370.71112060546875
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.6669921875,
                        "y": 6476.91064453125,
                        "z": 369.8476867675781
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1146.0159912109375,
                        "y": 6479.513671875,
                        "z": 369.016357421875
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1120.34326171875,
                        "y": 6481.9365234375,
                        "z": 368.08721923828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1101.478515625,
                        "y": 6483.29150390625,
                        "z": 367.37518310546875
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1081.4617919921875,
                        "y": 6484.3349609375,
                        "z": 366.61639404296875
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1060.49658203125,
                        "y": 6484.9921875,
                        "z": 365.7903137207031
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1029.3748779296875,
                        "y": 6485.31787109375,
                        "z": 364.6011962890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1006.3974609375,
                        "y": 6485.4931640625,
                        "z": 364.02337646484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -986.3580932617188,
                        "y": 6485.64404296875,
                        "z": 363.69732666015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -961.3846435546875,
                        "y": 6485.83447265625,
                        "z": 363.3064270019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.608048439025879,
                "transform": {
                    "location": {
                        "x": -932.0645751953125,
                        "y": 6486.06494140625,
                        "z": 362.89654541015625
                    },
                    "rotation": {
                        "roll": -0.54278564453125,
                        "pitch": 0.9198215007781982,
                        "yaw": -179.4866485595703
                    }
                },
                "velocity": {
                    "x": -9.60660171508789,
                    "y": -0.08081791549921036,
                    "z": 0.14581529796123505
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.645536422729492,
                "transform": {
                    "location": {
                        "x": -893.7142944335938,
                        "y": 6486.34716796875,
                        "z": 362.0890197753906
                    },
                    "rotation": {
                        "roll": 0.0008524534641765058,
                        "pitch": 1.2276034355163574,
                        "yaw": -179.5823211669922
                    }
                },
                "velocity": {
                    "x": -9.643159866333008,
                    "y": -0.0710228830575943,
                    "z": 0.20197778940200806
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.560868263244629,
                "transform": {
                    "location": {
                        "x": -837.3764038085938,
                        "y": 6443.326171875,
                        "z": 361.3800354003906
                    },
                    "rotation": {
                        "roll": -0.2062378078699112,
                        "pitch": 0.3614535927772522,
                        "yaw": 127.05422973632812
                    }
                },
                "velocity": {
                    "x": -5.820638179779053,
                    "y": 7.5845947265625,
                    "z": 0.06555835902690887
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.232638359069824,
                "transform": {
                    "location": {
                        "x": -854.2081298828125,
                        "y": 6459.06787109375,
                        "z": 361.56787109375
                    },
                    "rotation": {
                        "roll": -0.5905150175094604,
                        "pitch": 0.8226962685585022,
                        "yaw": 145.8459014892578
                    }
                },
                "velocity": {
                    "x": -8.583928108215332,
                    "y": 5.568361282348633,
                    "z": 0.12815749645233154
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4113472104072571,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            26.127927475466503,
            1.1338250615527041
        ],
        "target_point_next": [
            77.2967950521805,
            8.335324740697505
        ]
    },
    "365": {
        "acceleration": [
            1.240243911743164,
            -0.7689976692199707,
            -0.07911622524261475
        ],
        "angular_velocity": [
            0.49030575156211853,
            0.21478863060474396,
            6.6076226234436035
        ],
        "forward_vector": [
            -0.9670573472976685,
            0.25408419966697693,
            0.015531748533248901
        ],
        "right_vector": [
            -0.254058301448822,
            -0.9671820402145386,
            0.0036523425951600075
        ],
        "location": [
            -875.7726440429688,
            6469.3359375,
            361.9913330078125
        ],
        "rotation": [
            -0.2092895358800888,
            0.8899394273757935,
            165.2788543701172
        ],
        "velocity": [
            -6.755260467529297,
            1.7114962339401245,
            0.1379155069589615
        ],
        "speed": 6.9686988271093595,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.382989548335709,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.929488658905029,
                "transform": {
                    "location": {
                        "x": -864.3206176757812,
                        "y": 6493.51416015625,
                        "z": 361.4330749511719
                    },
                    "rotation": {
                        "roll": 0.009792392142117023,
                        "pitch": 1.619403600692749,
                        "yaw": -179.08489990234375
                    }
                },
                "velocity": {
                    "x": -7.926255702972412,
                    "y": -0.12811003625392914,
                    "z": 0.18667414784431458
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.118203163146973,
                "transform": {
                    "location": {
                        "x": -866.2289428710938,
                        "y": 6489.986328125,
                        "z": 361.4656677246094
                    },
                    "rotation": {
                        "roll": 0.015005730092525482,
                        "pitch": 1.3994783163070679,
                        "yaw": -179.23265075683594
                    }
                },
                "velocity": {
                    "x": -8.115328788757324,
                    "y": -0.09582013636827469,
                    "z": 0.19363164901733398
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.289775848388672,
                "transform": {
                    "location": {
                        "x": -877.7972412109375,
                        "y": 6486.46875,
                        "z": 361.74639892578125
                    },
                    "rotation": {
                        "roll": -0.00042724571540020406,
                        "pitch": 1.3175228834152222,
                        "yaw": -179.58584594726562
                    }
                },
                "velocity": {
                    "x": -9.287084579467773,
                    "y": -0.06945019215345383,
                    "z": 0.21254073083400726
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.896415710449219,
                "transform": {
                    "location": {
                        "x": -842.5346069335938,
                        "y": 6486.7373046875,
                        "z": 361.0573425292969
                    },
                    "rotation": {
                        "roll": -0.0011291508562862873,
                        "pitch": 0.8397648930549622,
                        "yaw": -179.57369995117188
                    }
                },
                "velocity": {
                    "x": -9.895307540893555,
                    "y": -0.07511434704065323,
                    "z": 0.1276089996099472
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1225.546630859375,
                        "y": 6471.11474609375,
                        "z": 371.4203796386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1201.72998046875,
                        "y": 6473.6298828125,
                        "z": 370.7820129394531
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1173.1517333984375,
                        "y": 6476.6484375,
                        "z": 369.92718505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1148.500732421875,
                        "y": 6479.251953125,
                        "z": 369.1041259765625
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1122.8333740234375,
                        "y": 6481.732421875,
                        "z": 368.1786193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1103.9715576171875,
                        "y": 6483.134765625,
                        "z": 367.4696350097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1083.956787109375,
                        "y": 6484.22802734375,
                        "z": 366.71087646484375
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1062.9925537109375,
                        "y": 6484.9404296875,
                        "z": 365.89312744140625
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1031.8736572265625,
                        "y": 6485.2998046875,
                        "z": 364.6817626953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1008.8966674804688,
                        "y": 6485.47412109375,
                        "z": 364.07135009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -988.8577270507812,
                        "y": 6485.6259765625,
                        "z": 363.73651123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -963.88427734375,
                        "y": 6485.8154296875,
                        "z": 363.3456115722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.60197925567627,
                "transform": {
                    "location": {
                        "x": -934.4649658203125,
                        "y": 6486.044921875,
                        "z": 362.933349609375
                    },
                    "rotation": {
                        "roll": -0.4205322265625,
                        "pitch": 0.8544020056724548,
                        "yaw": -179.4779510498047
                    }
                },
                "velocity": {
                    "x": -9.600543022155762,
                    "y": -0.0801183432340622,
                    "z": 0.1454831063747406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.646129608154297,
                "transform": {
                    "location": {
                        "x": -896.1250610351562,
                        "y": 6486.3291015625,
                        "z": 362.13922119140625
                    },
                    "rotation": {
                        "roll": -0.0005798341007903218,
                        "pitch": 1.2178772687911987,
                        "yaw": -179.55943298339844
                    }
                },
                "velocity": {
                    "x": -9.64376449584961,
                    "y": -0.07330866158008575,
                    "z": 0.20061853528022766
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.558775901794434,
                "transform": {
                    "location": {
                        "x": -838.9342041015625,
                        "y": 6445.296875,
                        "z": 361.3973388671875
                    },
                    "rotation": {
                        "roll": -0.14215087890625,
                        "pitch": 0.5057754516601562,
                        "yaw": 128.7516326904297
                    }
                },
                "velocity": {
                    "x": -6.619064807891846,
                    "y": 8.226208686828613,
                    "z": 0.07225286215543747
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.271158218383789,
                "transform": {
                    "location": {
                        "x": -856.4386596679688,
                        "y": 6460.470703125,
                        "z": 361.6021423339844
                    },
                    "rotation": {
                        "roll": -0.5384520888328552,
                        "pitch": 0.9081350564956665,
                        "yaw": 148.38333129882812
                    }
                },
                "velocity": {
                    "x": -8.773245811462402,
                    "y": 5.339203834533691,
                    "z": 0.14058426022529602
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3836508095264435,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            24.351414390692106,
            0.6927136159799581
        ],
        "target_point_next": [
            75.63519136049352,
            7.024287387458848
        ]
    },
    "370": {
        "acceleration": [
            0.33496856689453125,
            -0.25775909423828125,
            0.0009277462959289551
        ],
        "angular_velocity": [
            0.3749343156814575,
            0.3410487771034241,
            -0.8472499251365662
        ],
        "forward_vector": [
            -0.9700706005096436,
            0.2422005981206894,
            0.017373282462358475
        ],
        "right_vector": [
            -0.2422010600566864,
            -0.9702237844467163,
            0.0021089036017656326
        ],
        "location": [
            -877.4351196289062,
            6469.75048828125,
            362.02459716796875
        ],
        "rotation": [
            -0.120849609375,
            0.995465874671936,
            165.98138427734375
        ],
        "velocity": [
            -6.586781024932861,
            1.6006999015808105,
            0.13404417037963867
        ],
        "speed": 6.778489835157711,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.386141548238706,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.483407020568848,
                "transform": {
                    "location": {
                        "x": -866.4389038085938,
                        "y": 6493.4833984375,
                        "z": 361.4835205078125
                    },
                    "rotation": {
                        "roll": 0.026903904974460602,
                        "pitch": 1.5781219005584717,
                        "yaw": -179.19100952148438
                    }
                },
                "velocity": {
                    "x": -8.480281829833984,
                    "y": -0.10904804617166519,
                    "z": 0.2027958482503891
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.8725385665893555,
                "transform": {
                    "location": {
                        "x": -868.2062377929688,
                        "y": 6489.962890625,
                        "z": 361.51312255859375
                    },
                    "rotation": {
                        "roll": 0.009441470727324486,
                        "pitch": 1.3593237400054932,
                        "yaw": -179.33656311035156
                    }
                },
                "velocity": {
                    "x": -7.869816303253174,
                    "y": -0.0893077552318573,
                    "z": 0.1867489069700241
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.403053283691406,
                "transform": {
                    "location": {
                        "x": -880.1195068359375,
                        "y": 6486.451171875,
                        "z": 361.7989501953125
                    },
                    "rotation": {
                        "roll": -0.0007324221078306437,
                        "pitch": 1.3020389080047607,
                        "yaw": -179.55450439453125
                    }
                },
                "velocity": {
                    "x": -9.400449752807617,
                    "y": -0.07073432207107544,
                    "z": 0.20967616140842438
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.412487030029297,
                "transform": {
                    "location": {
                        "x": -844.9362182617188,
                        "y": 6486.71923828125,
                        "z": 361.0909729003906
                    },
                    "rotation": {
                        "roll": 0.0007766657508909702,
                        "pitch": 0.7823571562767029,
                        "yaw": -179.56602478027344
                    }
                },
                "velocity": {
                    "x": -9.411184310913086,
                    "y": -0.07117785513401031,
                    "z": 0.13947056233882904
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1228.031982421875,
                        "y": 6470.8525390625,
                        "z": 371.4831848144531
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1204.21533203125,
                        "y": 6473.3671875,
                        "z": 370.8515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1175.636474609375,
                        "y": 6476.38525390625,
                        "z": 370.00543212890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1150.9854736328125,
                        "y": 6478.98876953125,
                        "z": 369.19061279296875
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1125.3223876953125,
                        "y": 6481.5166015625,
                        "z": 368.2689514160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1106.4637451171875,
                        "y": 6482.9677734375,
                        "z": 367.5642395019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1086.4515380859375,
                        "y": 6484.1123046875,
                        "z": 366.8054504394531
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1065.48828125,
                        "y": 6484.8759765625,
                        "z": 365.9941711425781
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1034.372314453125,
                        "y": 6485.27978515625,
                        "z": 364.7642822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1011.3959350585938,
                        "y": 6485.455078125,
                        "z": 364.1253356933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -991.3572998046875,
                        "y": 6485.60693359375,
                        "z": 363.77557373046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -966.3839111328125,
                        "y": 6485.7958984375,
                        "z": 363.3846740722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.619601249694824,
                "transform": {
                    "location": {
                        "x": -936.8681030273438,
                        "y": 6486.02490234375,
                        "z": 362.97003173828125
                    },
                    "rotation": {
                        "roll": -0.1900024265050888,
                        "pitch": 0.895410418510437,
                        "yaw": -179.49789428710938
                    }
                },
                "velocity": {
                    "x": -9.6179780960083,
                    "y": -0.088968925178051,
                    "z": 0.15269456803798676
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.646793365478516,
                "transform": {
                    "location": {
                        "x": -898.5357666015625,
                        "y": 6486.31103515625,
                        "z": 362.1888732910156
                    },
                    "rotation": {
                        "roll": -0.0002746577956713736,
                        "pitch": 1.1844639778137207,
                        "yaw": -179.5790252685547
                    }
                },
                "velocity": {
                    "x": -9.644561767578125,
                    "y": -0.07084593176841736,
                    "z": 0.19502541422843933
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.6973295211792,
                "transform": {
                    "location": {
                        "x": -840.6602783203125,
                        "y": 6447.3330078125,
                        "z": 361.4154968261719
                    },
                    "rotation": {
                        "roll": -0.22430415451526642,
                        "pitch": 0.4422478973865509,
                        "yaw": 131.30836486816406
                    }
                },
                "velocity": {
                    "x": -7.0955352783203125,
                    "y": 8.005060195922852,
                    "z": 0.07238996028900146
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.98382568359375,
                "transform": {
                    "location": {
                        "x": -858.5123291015625,
                        "y": 6461.70166015625,
                        "z": 361.6379089355469
                    },
                    "rotation": {
                        "roll": -0.5754087567329407,
                        "pitch": 0.5699314475059509,
                        "yaw": 149.89332580566406
                    }
                },
                "velocity": {
                    "x": -7.858620643615723,
                    "y": 4.3512067794799805,
                    "z": 0.13491927087306976
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.33444246649742126,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            22.64469552430038,
            0.3935788047847639
        ],
        "target_point_next": [
            74.00224945166889,
            6.095881963110264
        ]
    },
    "375": {
        "acceleration": [
            -0.17952919006347656,
            -0.14519453048706055,
            -0.00578761100769043
        ],
        "angular_velocity": [
            0.2975916862487793,
            0.25520604848861694,
            4.606387138366699
        ],
        "forward_vector": [
            -0.9719886779785156,
            0.23425525426864624,
            0.019038358703255653
        ],
        "right_vector": [
            -0.23427821695804596,
            -0.9721689820289612,
            0.0010474970331415534
        ],
        "location": [
            -879.07958984375,
            6470.14697265625,
            362.0575256347656
        ],
        "rotation": [
            -0.06002805382013321,
            1.0908836126327515,
            166.44976806640625
        ],
        "velocity": [
            -6.585887908935547,
            1.5572032928466797,
            0.13430842757225037
        ],
        "speed": 6.767481189062587,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.389246842084404,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.038956642150879,
                "transform": {
                    "location": {
                        "x": -868.4953002929688,
                        "y": 6493.4580078125,
                        "z": 361.53533935546875
                    },
                    "rotation": {
                        "roll": 0.014282475225627422,
                        "pitch": 1.2570757865905762,
                        "yaw": -179.32057189941406
                    }
                },
                "velocity": {
                    "x": -8.036126136779785,
                    "y": -0.0926864966750145,
                    "z": 0.19210423529148102
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.130183219909668,
                "transform": {
                    "location": {
                        "x": -870.2129516601562,
                        "y": 6489.9404296875,
                        "z": 361.5608215332031
                    },
                    "rotation": {
                        "roll": 0.006391959264874458,
                        "pitch": 1.3833590745925903,
                        "yaw": -179.3740692138672
                    }
                },
                "velocity": {
                    "x": -8.127481460571289,
                    "y": -0.08027012646198273,
                    "z": 0.19358323514461517
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.322301864624023,
                "transform": {
                    "location": {
                        "x": -882.473388671875,
                        "y": 6486.43359375,
                        "z": 361.8511657714844
                    },
                    "rotation": {
                        "roll": -0.0004577640211209655,
                        "pitch": 1.256706953048706,
                        "yaw": -179.5770721435547
                    }
                },
                "velocity": {
                    "x": -9.319801330566406,
                    "y": -0.07100030034780502,
                    "z": 0.20389701426029205
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.655304908752441,
                "transform": {
                    "location": {
                        "x": -847.3110961914062,
                        "y": 6486.701171875,
                        "z": 361.12530517578125
                    },
                    "rotation": {
                        "roll": -9.155262523563579e-05,
                        "pitch": 0.9149447679519653,
                        "yaw": -179.56211853027344
                    }
                },
                "velocity": {
                    "x": -9.65386962890625,
                    "y": -0.07390249520540237,
                    "z": 0.1491793543100357
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1230.517333984375,
                        "y": 6470.59033203125,
                        "z": 371.544921875
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1206.70068359375,
                        "y": 6473.10498046875,
                        "z": 370.9209289550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1178.12158203125,
                        "y": 6476.123046875,
                        "z": 370.08319091796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.47021484375,
                        "y": 6478.72607421875,
                        "z": 369.2766418457031
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1127.811279296875,
                        "y": 6481.3017578125,
                        "z": 368.3590087890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1108.955810546875,
                        "y": 6482.7998046875,
                        "z": 367.6586608886719
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1088.9459228515625,
                        "y": 6483.9931640625,
                        "z": 366.89996337890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1067.9840087890625,
                        "y": 6484.810546875,
                        "z": 366.09521484375
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1036.8704833984375,
                        "y": 6485.26123046875,
                        "z": 364.8514709472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1013.8951416015625,
                        "y": 6485.43603515625,
                        "z": 364.17987060546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -993.85693359375,
                        "y": 6485.587890625,
                        "z": 363.8147888183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -968.8834838867188,
                        "y": 6485.77783203125,
                        "z": 363.42388916015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.595321655273438,
                "transform": {
                    "location": {
                        "x": -939.268798828125,
                        "y": 6486.00439453125,
                        "z": 363.0060729980469
                    },
                    "rotation": {
                        "roll": -0.107330322265625,
                        "pitch": 0.8590670228004456,
                        "yaw": -179.52169799804688
                    }
                },
                "velocity": {
                    "x": -9.59401798248291,
                    "y": -0.07797913253307343,
                    "z": 0.13757242262363434
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.646459579467773,
                "transform": {
                    "location": {
                        "x": -900.94677734375,
                        "y": 6486.29296875,
                        "z": 362.23736572265625
                    },
                    "rotation": {
                        "roll": 0.000773892505094409,
                        "pitch": 1.1718281507492065,
                        "yaw": -179.56004333496094
                    }
                },
                "velocity": {
                    "x": -9.644267082214355,
                    "y": -0.07218291610479355,
                    "z": 0.19256360828876495
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.751442909240723,
                "transform": {
                    "location": {
                        "x": -842.3896484375,
                        "y": 6449.2265625,
                        "z": 361.43267822265625
                    },
                    "rotation": {
                        "roll": -0.1572875678539276,
                        "pitch": 0.29079529643058777,
                        "yaw": 133.0252685546875
                    }
                },
                "velocity": {
                    "x": -6.648751735687256,
                    "y": 7.133030414581299,
                    "z": 0.06791938841342926
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.564341068267822,
                "transform": {
                    "location": {
                        "x": -860.2734375,
                        "y": 6462.6455078125,
                        "z": 361.6695861816406
                    },
                    "rotation": {
                        "roll": -0.447906494140625,
                        "pitch": 0.3744446039199829,
                        "yaw": 152.13404846191406
                    }
                },
                "velocity": {
                    "x": -6.724056243896484,
                    "y": 3.462956428527832,
                    "z": 0.11940385401248932
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2647288143634796,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            20.955564703422272,
            0.20860332036915974
        ],
        "target_point_next": [
            72.35801777263522,
            5.49087794209923
        ]
    },
    "380": {
        "acceleration": [
            -0.5523967742919922,
            -0.0037407875061035156,
            -0.01397162675857544
        ],
        "angular_velocity": [
            0.053483154624700546,
            0.19654355943202972,
            -1.6631581783294678
        ],
        "forward_vector": [
            -0.9733390212059021,
            0.22848372161388397,
            0.02015930972993374
        ],
        "right_vector": [
            -0.22852051258087158,
            -0.9735389947891235,
            0.0004899221239611506
        ],
        "location": [
            -880.7369384765625,
            6470.53466796875,
            362.09088134765625
        ],
        "rotation": [
            -0.0280761756002903,
            1.1551215648651123,
            166.78944396972656
        ],
        "velocity": [
            -6.683131694793701,
            1.541292428970337,
            0.13392327725887299
        ],
        "speed": 6.8585590032861425,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.3923629168159466,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.89475154876709,
                "transform": {
                    "location": {
                        "x": -870.4727172851562,
                        "y": 6493.43603515625,
                        "z": 361.5821533203125
                    },
                    "rotation": {
                        "roll": 0.01125679723918438,
                        "pitch": 1.2942866086959839,
                        "yaw": -179.39480590820312
                    }
                },
                "velocity": {
                    "x": -7.892160892486572,
                    "y": -0.07881812751293182,
                    "z": 0.18623913824558258
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.020857810974121,
                "transform": {
                    "location": {
                        "x": -872.2340698242188,
                        "y": 6489.9208984375,
                        "z": 361.6082763671875
                    },
                    "rotation": {
                        "roll": 0.004030800424516201,
                        "pitch": 1.329742193222046,
                        "yaw": -179.4558868408203
                    }
                },
                "velocity": {
                    "x": -8.018381118774414,
                    "y": -0.07299267500638962,
                    "z": 0.18548627197742462
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.554180145263672,
                "transform": {
                    "location": {
                        "x": -884.8094482421875,
                        "y": 6486.41552734375,
                        "z": 361.90234375
                    },
                    "rotation": {
                        "roll": -0.0007934569148346782,
                        "pitch": 1.295516014099121,
                        "yaw": -179.5499267578125
                    }
                },
                "velocity": {
                    "x": -9.551614761352539,
                    "y": -0.07272937893867493,
                    "z": 0.2091115266084671
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.657820701599121,
                "transform": {
                    "location": {
                        "x": -849.7373046875,
                        "y": 6486.68212890625,
                        "z": 361.1648864746094
                    },
                    "rotation": {
                        "roll": 0.000517796550411731,
                        "pitch": 0.9654335379600525,
                        "yaw": -179.5590362548828
                    }
                },
                "velocity": {
                    "x": -9.6560640335083,
                    "y": -0.07599905133247375,
                    "z": 0.1678101271390915
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1233.002685546875,
                        "y": 6470.328125,
                        "z": 371.6062927246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.18603515625,
                        "y": 6472.84228515625,
                        "z": 370.9888916015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1180.6068115234375,
                        "y": 6475.8603515625,
                        "z": 370.1598815917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.954833984375,
                        "y": 6478.46435546875,
                        "z": 369.36138916015625
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1130.299072265625,
                        "y": 6481.07421875,
                        "z": 368.4491271972656
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1111.4471435546875,
                        "y": 6482.62158203125,
                        "z": 367.75335693359375
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1091.4400634765625,
                        "y": 6483.86474609375,
                        "z": 366.9945373535156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1070.4796142578125,
                        "y": 6484.73291015625,
                        "z": 366.1936950683594
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1039.36865234375,
                        "y": 6485.2421875,
                        "z": 364.9407043457031
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1016.39404296875,
                        "y": 6485.41650390625,
                        "z": 364.24041748046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -996.356201171875,
                        "y": 6485.56884765625,
                        "z": 363.8538513183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -971.3831176757812,
                        "y": 6485.7578125,
                        "z": 363.46295166015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.623013496398926,
                "transform": {
                    "location": {
                        "x": -941.6708374023438,
                        "y": 6485.9853515625,
                        "z": 363.0417785644531
                    },
                    "rotation": {
                        "roll": -0.054412830621004105,
                        "pitch": 0.8225322961807251,
                        "yaw": -179.55209350585938
                    }
                },
                "velocity": {
                    "x": -9.62169075012207,
                    "y": -0.07561390101909637,
                    "z": 0.14052514731884003
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.646561622619629,
                "transform": {
                    "location": {
                        "x": -903.3577270507812,
                        "y": 6486.27490234375,
                        "z": 362.2854309082031
                    },
                    "rotation": {
                        "roll": 9.24629857763648e-05,
                        "pitch": 1.1637139320373535,
                        "yaw": -179.58135986328125
                    }
                },
                "velocity": {
                    "x": -9.644372940063477,
                    "y": -0.0711437463760376,
                    "z": 0.192792609333992
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.306500434875488,
                "transform": {
                    "location": {
                        "x": -844.0787353515625,
                        "y": 6450.919921875,
                        "z": 361.4490051269531
                    },
                    "rotation": {
                        "roll": -0.2025451362133026,
                        "pitch": 0.30972856283187866,
                        "yaw": 135.71737670898438
                    }
                },
                "velocity": {
                    "x": -6.691701412200928,
                    "y": 6.467459678649902,
                    "z": 0.06362418830394745
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.061758995056152,
                "transform": {
                    "location": {
                        "x": -861.9957885742188,
                        "y": 6463.52587890625,
                        "z": 361.6992492675781
                    },
                    "rotation": {
                        "roll": -0.2589416205883026,
                        "pitch": 0.8701865673065186,
                        "yaw": 152.9865264892578
                    }
                },
                "velocity": {
                    "x": -7.197775840759277,
                    "y": 3.62851619720459,
                    "z": 0.13361898064613342
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1845487803220749,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            19.254343127157977,
            0.08304760556176927
        ],
        "target_point_next": [
            70.68720873834373,
            5.060490898430109
        ]
    },
    "385": {
        "acceleration": [
            -0.8353900909423828,
            0.07856369018554688,
            0.014626681804656982
        ],
        "angular_velocity": [
            0.03599141165614128,
            -0.044791799038648605,
            3.8827714920043945
        ],
        "forward_vector": [
            -0.9745053648948669,
            0.22344748675823212,
            0.020260615274310112
        ],
        "right_vector": [
            -0.22349080443382263,
            -0.9747060537338257,
            0.00012940306623931974
        ],
        "location": [
            -882.42919921875,
            6470.923828125,
            362.12396240234375
        ],
        "rotation": [
            -0.007415772415697575,
            1.160927176475525,
            167.08570861816406
        ],
        "velocity": [
            -6.861674785614014,
            1.5562893152236938,
            0.1324121654033661
        ],
        "speed": 7.035951769036692,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.3955314389222773,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.156829833984375,
                "transform": {
                    "location": {
                        "x": -872.4839477539062,
                        "y": 6493.416015625,
                        "z": 361.6280517578125
                    },
                    "rotation": {
                        "roll": 0.00872808787971735,
                        "pitch": 1.4027568101882935,
                        "yaw": -179.4637908935547
                    }
                },
                "velocity": {
                    "x": -8.15434741973877,
                    "y": -0.07357031852006912,
                    "z": 0.18726596236228943
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.997377395629883,
                "transform": {
                    "location": {
                        "x": -874.2288208007812,
                        "y": 6489.90283203125,
                        "z": 361.6543273925781
                    },
                    "rotation": {
                        "roll": 0.0015256879851222038,
                        "pitch": 1.3117104768753052,
                        "yaw": -179.4827423095703
                    }
                },
                "velocity": {
                    "x": -7.994973659515381,
                    "y": -0.07237391173839569,
                    "z": 0.1822129637002945
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.391437530517578,
                "transform": {
                    "location": {
                        "x": -887.2077026367188,
                        "y": 6486.3974609375,
                        "z": 361.9547119140625
                    },
                    "rotation": {
                        "roll": -0.0003967287775594741,
                        "pitch": 1.2433265447616577,
                        "yaw": -179.57400512695312
                    }
                },
                "velocity": {
                    "x": -9.388978004455566,
                    "y": -0.0712791159749031,
                    "z": 0.20277699828147888
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.532526969909668,
                "transform": {
                    "location": {
                        "x": -852.1286010742188,
                        "y": 6486.6640625,
                        "z": 361.20623779296875
                    },
                    "rotation": {
                        "roll": -3.0517394407070242e-05,
                        "pitch": 1.0362557172775269,
                        "yaw": -179.556396484375
                    }
                },
                "velocity": {
                    "x": -9.53067684173584,
                    "y": -0.07372663915157318,
                    "z": 0.172713041305542
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -858.2262573242188,
                        "y": 6490.1171875,
                        "z": 361.6374816894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2281908988952637,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": -3.295090200694517e-09,
                    "y": -2.4976680446098243e-11,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.488037109375,
                        "y": 6470.0654296875,
                        "z": 371.66656494140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1211.67138671875,
                        "y": 6472.58056640625,
                        "z": 371.05682373046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1183.092041015625,
                        "y": 6475.5986328125,
                        "z": 370.2360534667969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.4395751953125,
                        "y": 6478.20166015625,
                        "z": 369.44580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1132.7869873046875,
                        "y": 6480.84619140625,
                        "z": 368.5391845703125
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1113.938232421875,
                        "y": 6482.4365234375,
                        "z": 367.8475646972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1093.93408203125,
                        "y": 6483.7333984375,
                        "z": 367.0890197753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1072.9757080078125,
                        "y": 6484.65673828125,
                        "z": 366.29217529296875
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1041.8668212890625,
                        "y": 6485.22412109375,
                        "z": 365.03460693359375
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1018.8929443359375,
                        "y": 6485.39794921875,
                        "z": 364.30169677734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -998.8558349609375,
                        "y": 6485.5498046875,
                        "z": 363.8930358886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -973.8826904296875,
                        "y": 6485.73974609375,
                        "z": 363.50213623046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.593463897705078,
                "transform": {
                    "location": {
                        "x": -944.0728759765625,
                        "y": 6485.966796875,
                        "z": 363.0770263671875
                    },
                    "rotation": {
                        "roll": -0.0015869141789153218,
                        "pitch": 0.8779593110084534,
                        "yaw": -179.56358337402344
                    }
                },
                "velocity": {
                    "x": -9.592025756835938,
                    "y": -0.07464934140443802,
                    "z": 0.14842131733894348
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.629630088806152,
                "transform": {
                    "location": {
                        "x": -905.7719116210938,
                        "y": 6486.25341796875,
                        "z": 362.3502197265625
                    },
                    "rotation": {
                        "roll": -0.5419309735298157,
                        "pitch": 1.8925701379776,
                        "yaw": -179.5540313720703
                    }
                },
                "velocity": {
                    "x": -9.625349998474121,
                    "y": -0.03610146790742874,
                    "z": 0.28479596972465515
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.630961418151855,
                "transform": {
                    "location": {
                        "x": -845.7811279296875,
                        "y": 6452.52685546875,
                        "z": 361.4658203125
                    },
                    "rotation": {
                        "roll": -0.12564082443714142,
                        "pitch": 0.44885268807411194,
                        "yaw": 137.01052856445312
                    }
                },
                "velocity": {
                    "x": -7.0529961585998535,
                    "y": 6.55787467956543,
                    "z": 0.07037956267595291
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.956531524658203,
                "transform": {
                    "location": {
                        "x": -863.9078979492188,
                        "y": 6464.41259765625,
                        "z": 361.734130859375
                    },
                    "rotation": {
                        "roll": -0.47064200043678284,
                        "pitch": 1.2150564193725586,
                        "yaw": 155.41690063476562
                    }
                },
                "velocity": {
                    "x": -8.202065467834473,
                    "y": 3.5945401191711426,
                    "z": 0.1576666533946991
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.12949238717556,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            17.5180846632287,
            -0.015404832841789062
        ],
        "target_point_next": [
            68.9760000446588,
            4.696022902950427
        ]
    },
    "390": {
        "acceleration": [
            -1.1039447784423828,
            0.11755943298339844,
            -0.009301602840423584
        ],
        "angular_velocity": [
            -0.010490369983017445,
            0.0415724515914917,
            -1.8443652391433716
        ],
        "forward_vector": [
            -0.9753316044807434,
            0.21982724964618683,
            0.020105436444282532
        ],
        "right_vector": [
            -0.2198706716299057,
            -0.9755290150642395,
            5.165487164049409e-05
        ],
        "location": [
            -884.17578125,
            6471.31591796875,
            362.1572570800781
        ],
        "rotation": [
            -0.002960204379633069,
            1.1520342826843262,
            167.2985076904297
        ],
        "velocity": [
            -7.11453104019165,
            1.5829299688339233,
            0.13259921967983246
        ],
        "speed": 7.288499105308517,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.3987846285415935,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.06456184387207,
                "transform": {
                    "location": {
                        "x": -874.5148315429688,
                        "y": 6493.39794921875,
                        "z": 361.6752014160156
                    },
                    "rotation": {
                        "roll": 0.0033394149504601955,
                        "pitch": 1.3285468816757202,
                        "yaw": -179.50119018554688
                    }
                },
                "velocity": {
                    "x": -8.062151908874512,
                    "y": -0.07047089189291,
                    "z": 0.18412041664123535
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.08838176727295,
                "transform": {
                    "location": {
                        "x": -876.2439575195312,
                        "y": 6489.88525390625,
                        "z": 361.7003173828125
                    },
                    "rotation": {
                        "roll": 0.002166027668863535,
                        "pitch": 1.3174750804901123,
                        "yaw": -179.50723266601562
                    }
                },
                "velocity": {
                    "x": -8.085967063903809,
                    "y": -0.06716892868280411,
                    "z": 0.18586964905261993
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.096076011657715,
                "transform": {
                    "location": {
                        "x": -889.4954223632812,
                        "y": 6486.3798828125,
                        "z": 362.0038146972656
                    },
                    "rotation": {
                        "roll": -0.00012207014515297487,
                        "pitch": 1.1724156141281128,
                        "yaw": -179.5502471923828
                    }
                },
                "velocity": {
                    "x": -9.09371280670166,
                    "y": -0.06998496502637863,
                    "z": 0.19517414271831512
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.655182838439941,
                "transform": {
                    "location": {
                        "x": -854.5291137695312,
                        "y": 6486.6455078125,
                        "z": 361.25146484375
                    },
                    "rotation": {
                        "roll": 0.0007978086941875517,
                        "pitch": 1.124337911605835,
                        "yaw": -179.5559844970703
                    }
                },
                "velocity": {
                    "x": -9.652968406677246,
                    "y": -0.07506664097309113,
                    "z": 0.19266150891780853
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": -858.2528076171875,
                        "y": 6493.61669921875,
                        "z": 361.5738220214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2281908988952637,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": -1.8168504922755346e-08,
                    "y": -1.3771669915563223e-10,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6080434322357178,
                "transform": {
                    "location": {
                        "x": -858.2286376953125,
                        "y": 6490.1171875,
                        "z": 361.23370361328125
                    },
                    "rotation": {
                        "roll": 0.0008842059760354459,
                        "pitch": 1.2290924787521362,
                        "yaw": -179.5655059814453
                    }
                },
                "velocity": {
                    "x": -0.012904695235192776,
                    "y": -0.00042078871047124267,
                    "z": -0.6079063415527344
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.973388671875,
                        "y": 6469.80224609375,
                        "z": 371.72650146484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1214.15673828125,
                        "y": 6472.31787109375,
                        "z": 371.1233215332031
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1185.577392578125,
                        "y": 6475.3359375,
                        "z": 370.31103515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.92431640625,
                        "y": 6477.939453125,
                        "z": 369.5289306640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1135.2735595703125,
                        "y": 6480.60595703125,
                        "z": 368.6293029785156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1116.4285888671875,
                        "y": 6482.24658203125,
                        "z": 367.94158935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1096.4276123046875,
                        "y": 6483.59375,
                        "z": 367.1836242675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1075.4710693359375,
                        "y": 6484.56689453125,
                        "z": 366.38800048828125
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1044.364990234375,
                        "y": 6485.2041015625,
                        "z": 365.1304931640625
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1021.391845703125,
                        "y": 6485.37841796875,
                        "z": 364.3689270019531
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1001.3551635742188,
                        "y": 6485.5302734375,
                        "z": 363.93389892578125
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -976.38232421875,
                        "y": 6485.7197265625,
                        "z": 363.54119873046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.621895790100098,
                "transform": {
                    "location": {
                        "x": -946.4744873046875,
                        "y": 6485.94873046875,
                        "z": 363.1134033203125
                    },
                    "rotation": {
                        "roll": 0.03965471312403679,
                        "pitch": 0.8774811625480652,
                        "yaw": -179.55377197265625
                    }
                },
                "velocity": {
                    "x": -9.620527267456055,
                    "y": -0.07441229373216629,
                    "z": 0.14422164857387543
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.646196365356445,
                "transform": {
                    "location": {
                        "x": -908.177001953125,
                        "y": 6486.23876953125,
                        "z": 362.4168701171875
                    },
                    "rotation": {
                        "roll": -1.0404356718063354,
                        "pitch": 1.472752571105957,
                        "yaw": -179.6256103515625
                    }
                },
                "velocity": {
                    "x": -9.642457008361816,
                    "y": -0.03652285411953926,
                    "z": 0.2660619616508484
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.668874740600586,
                "transform": {
                    "location": {
                        "x": -847.6410522460938,
                        "y": 6454.14599609375,
                        "z": 361.48553466796875
                    },
                    "rotation": {
                        "roll": -0.186370849609375,
                        "pitch": 0.505905270576477,
                        "yaw": 139.72036743164062
                    }
                },
                "velocity": {
                    "x": -7.395564556121826,
                    "y": 6.227855205535889,
                    "z": 0.08119753003120422
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.952163696289062,
                "transform": {
                    "location": {
                        "x": -866.1008911132812,
                        "y": 6465.359375,
                        "z": 361.77655029296875
                    },
                    "rotation": {
                        "roll": -0.3375548720359802,
                        "pitch": 1.4797261953353882,
                        "yaw": 156.85601806640625
                    }
                },
                "velocity": {
                    "x": -9.166266441345215,
                    "y": 3.8717422485351562,
                    "z": 0.18635322153568268
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.056993838399648666,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            15.727856130550105,
            -0.08198815893590172
        ],
        "target_point_next": [
            67.20291304186537,
            4.438313013427342
        ]
    },
    "395": {
        "acceleration": [
            -1.2748146057128906,
            0.26607751846313477,
            -0.013565421104431152
        ],
        "angular_velocity": [
            0.03274403139948845,
            -0.005000151693820953,
            3.2090096473693848
        ],
        "forward_vector": [
            -0.9761688709259033,
            0.21607288718223572,
            0.020173251628875732
        ],
        "right_vector": [
            -0.21611900627613068,
            -0.9763670563697815,
            -0.00010878033208427951
        ],
        "location": [
            -885.9925537109375,
            6471.71923828125,
            362.1907043457031
        ],
        "rotation": [
            0.0062339226715266705,
            1.1559206247329712,
            167.51893615722656
        ],
        "velocity": [
            -7.416628360748291,
            1.6345922946929932,
            0.13408322632312775
        ],
        "speed": 7.594621005114448,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.402150727133257,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.023134231567383,
                "transform": {
                    "location": {
                        "x": -876.5211791992188,
                        "y": 6493.38134765625,
                        "z": 361.7213439941406
                    },
                    "rotation": {
                        "roll": 0.0024723936803638935,
                        "pitch": 1.2924083471298218,
                        "yaw": -179.52159118652344
                    }
                },
                "velocity": {
                    "x": -8.020767211914062,
                    "y": -0.0662798210978508,
                    "z": 0.18323056399822235
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.987358093261719,
                "transform": {
                    "location": {
                        "x": -878.2506103515625,
                        "y": 6489.86865234375,
                        "z": 361.7463073730469
                    },
                    "rotation": {
                        "roll": 0.0017768817488104105,
                        "pitch": 1.3130013942718506,
                        "yaw": -179.52490234375
                    }
                },
                "velocity": {
                    "x": -7.985018253326416,
                    "y": -0.06493531912565231,
                    "z": 0.1820826679468155
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.386774063110352,
                "transform": {
                    "location": {
                        "x": -891.8112182617188,
                        "y": 6486.3623046875,
                        "z": 362.0524597167969
                    },
                    "rotation": {
                        "roll": 0.00024648141697980464,
                        "pitch": 1.2352806329727173,
                        "yaw": -179.57595825195312
                    }
                },
                "velocity": {
                    "x": -9.384442329406738,
                    "y": -0.07173166424036026,
                    "z": 0.1965675950050354
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.585046768188477,
                "transform": {
                    "location": {
                        "x": -856.935546875,
                        "y": 6486.626953125,
                        "z": 361.2994689941406
                    },
                    "rotation": {
                        "roll": 0.00019817160500679165,
                        "pitch": 1.1903516054153442,
                        "yaw": -179.5647430419922
                    }
                },
                "velocity": {
                    "x": -9.582770347595215,
                    "y": -0.0712205097079277,
                    "z": 0.19635848701000214
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09985506534576416,
                "transform": {
                    "location": {
                        "x": -858.255615234375,
                        "y": 6493.61669921875,
                        "z": 361.23095703125
                    },
                    "rotation": {
                        "roll": -0.002044677035883069,
                        "pitch": 1.203322172164917,
                        "yaw": -179.56536865234375
                    }
                },
                "velocity": {
                    "x": -0.0020424104295670986,
                    "y": 3.26465888065286e-05,
                    "z": -0.09983417391777039
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.22699525952339172,
                "transform": {
                    "location": {
                        "x": -858.2282104492188,
                        "y": 6490.1171875,
                        "z": 361.25531005859375
                    },
                    "rotation": {
                        "roll": 0.0004278385022189468,
                        "pitch": 1.2286348342895508,
                        "yaw": -179.56546020507812
                    }
                },
                "velocity": {
                    "x": 0.0048693702556192875,
                    "y": 0.00015797893865965307,
                    "z": 0.22694295644760132
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1240.458740234375,
                        "y": 6469.5400390625,
                        "z": 371.78564453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1216.64208984375,
                        "y": 6472.0556640625,
                        "z": 371.1897888183594
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1188.062744140625,
                        "y": 6475.07373046875,
                        "z": 370.3855285644531
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.4090576171875,
                        "y": 6477.67724609375,
                        "z": 369.61163330078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1137.76025390625,
                        "y": 6480.3642578125,
                        "z": 368.7192077636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1118.9188232421875,
                        "y": 6482.05029296875,
                        "z": 368.03448486328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1098.9207763671875,
                        "y": 6483.44970703125,
                        "z": 367.2780456542969
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1077.9661865234375,
                        "y": 6484.47802734375,
                        "z": 366.48388671875
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1046.863037109375,
                        "y": 6485.18505859375,
                        "z": 365.2309265136719
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1023.8907470703125,
                        "y": 6485.3603515625,
                        "z": 364.43695068359375
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1003.854736328125,
                        "y": 6485.51220703125,
                        "z": 363.9754333496094
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -978.8819580078125,
                        "y": 6485.70166015625,
                        "z": 363.5804138183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.596549987792969,
                "transform": {
                    "location": {
                        "x": -948.876220703125,
                        "y": 6485.9306640625,
                        "z": 363.14971923828125
                    },
                    "rotation": {
                        "roll": 0.05809231102466583,
                        "pitch": 0.8599686026573181,
                        "yaw": -179.55572509765625
                    }
                },
                "velocity": {
                    "x": -9.595163345336914,
                    "y": -0.0748327448964119,
                    "z": 0.14497295022010803
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.651204109191895,
                "transform": {
                    "location": {
                        "x": -910.585693359375,
                        "y": 6486.2265625,
                        "z": 362.4727783203125
                    },
                    "rotation": {
                        "roll": -1.44134521484375,
                        "pitch": 1.11892831325531,
                        "yaw": -179.55624389648438
                    }
                },
                "velocity": {
                    "x": -9.649319648742676,
                    "y": -0.049916334450244904,
                    "z": 0.1840411275625229
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.96125316619873,
                "transform": {
                    "location": {
                        "x": -849.4251098632812,
                        "y": 6455.61279296875,
                        "z": 361.5065612792969
                    },
                    "rotation": {
                        "roll": -0.12084957212209702,
                        "pitch": 0.480544775724411,
                        "yaw": 140.95167541503906
                    }
                },
                "velocity": {
                    "x": -6.963332176208496,
                    "y": 5.639921188354492,
                    "z": 0.085751473903656
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.561444282531738,
                "transform": {
                    "location": {
                        "x": -868.40380859375,
                        "y": 6466.2705078125,
                        "z": 361.8252258300781
                    },
                    "rotation": {
                        "roll": -0.5637816190719604,
                        "pitch": 1.2378419637680054,
                        "yaw": 159.1308135986328
                    }
                },
                "velocity": {
                    "x": -8.979604721069336,
                    "y": 3.2789299488067627,
                    "z": 0.19113820791244507
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.002224135212600231,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            13.86642241182119,
            -0.1413403949684331
        ],
        "target_point_next": [
            65.3584885072583,
            4.180896981107759
        ]
    },
    "400": {
        "acceleration": [
            -1.4577198028564453,
            0.27126550674438477,
            0.010749399662017822
        ],
        "angular_velocity": [
            -0.02179526537656784,
            -0.09184151142835617,
            -2.276975393295288
        ],
        "forward_vector": [
            -0.9764167070388794,
            0.21494856476783752,
            0.020186245441436768
        ],
        "right_vector": [
            -0.2149965912103653,
            -0.976614773273468,
            -0.00021387262677308172
        ],
        "location": [
            -887.8917846679688,
            6472.13671875,
            362.22467041015625
        ],
        "rotation": [
            0.012256496585905552,
            1.1566652059555054,
            167.5849151611328
        ],
        "velocity": [
            -7.769504070281982,
            1.7024204730987549,
            0.13723383843898773
        ],
        "speed": 7.9538310873034055,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.405648099831126,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -831.3001098632812,
                        "y": 6486.8203125,
                        "z": 361.0608215332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3764936625957489,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.053874969482422,
                "transform": {
                    "location": {
                        "x": -878.5299072265625,
                        "y": 6493.3642578125,
                        "z": 361.7669982910156
                    },
                    "rotation": {
                        "roll": 0.0016401123721152544,
                        "pitch": 1.3317228555679321,
                        "yaw": -179.52703857421875
                    }
                },
                "velocity": {
                    "x": -8.05153751373291,
                    "y": -0.06668897718191147,
                    "z": 0.18219590187072754
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.071599960327148,
                "transform": {
                    "location": {
                        "x": -880.25732421875,
                        "y": 6489.8515625,
                        "z": 361.7914733886719
                    },
                    "rotation": {
                        "roll": 0.0007458393229171634,
                        "pitch": 1.285598635673523,
                        "yaw": -179.53414916992188
                    }
                },
                "velocity": {
                    "x": -8.06934642791748,
                    "y": -0.06557182967662811,
                    "z": 0.17909862101078033
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.278367042541504,
                "transform": {
                    "location": {
                        "x": -894.1478881835938,
                        "y": 6486.34423828125,
                        "z": 362.1014099121094
                    },
                    "rotation": {
                        "roll": 0.0006996194133535028,
                        "pitch": 1.2059381008148193,
                        "yaw": -179.55157470703125
                    }
                },
                "velocity": {
                    "x": -9.276031494140625,
                    "y": -0.07148439437150955,
                    "z": 0.19550888240337372
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.60774040222168,
                "transform": {
                    "location": {
                        "x": -859.3324584960938,
                        "y": 6486.6083984375,
                        "z": 361.3511657714844
                    },
                    "rotation": {
                        "roll": 0.0005787851987406611,
                        "pitch": 1.2757972478866577,
                        "yaw": -179.56361389160156
                    }
                },
                "velocity": {
                    "x": -9.605021476745605,
                    "y": -0.07323076575994492,
                    "z": 0.2164934277534485
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.1760881245136261,
                "transform": {
                    "location": {
                        "x": -858.254638671875,
                        "y": 6493.61669921875,
                        "z": 361.2772216796875
                    },
                    "rotation": {
                        "roll": -0.0018920892616733909,
                        "pitch": 1.2055761814117432,
                        "yaw": -179.5653839111328
                    }
                },
                "velocity": {
                    "x": 0.003826438682153821,
                    "y": -5.473928831634112e-05,
                    "z": 0.17604653537273407
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.23565834760665894,
                "transform": {
                    "location": {
                        "x": -858.2314453125,
                        "y": 6490.1171875,
                        "z": 361.28472900390625
                    },
                    "rotation": {
                        "roll": 0.001064720330759883,
                        "pitch": 1.2313942909240723,
                        "yaw": -179.5643310546875
                    }
                },
                "velocity": {
                    "x": -0.2319786250591278,
                    "y": -0.004342051222920418,
                    "z": 0.04125436767935753
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1242.944091796875,
                        "y": 6469.27685546875,
                        "z": 371.8447265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1219.12744140625,
                        "y": 6471.79345703125,
                        "z": 371.2547912597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1190.548095703125,
                        "y": 6474.81103515625,
                        "z": 370.4587707519531
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.893798828125,
                        "y": 6477.4150390625,
                        "z": 369.6931457519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1140.2459716796875,
                        "y": 6480.1123046875,
                        "z": 368.8092956542969
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1121.4088134765625,
                        "y": 6481.84912109375,
                        "z": 368.12640380859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1101.413818359375,
                        "y": 6483.29541015625,
                        "z": 367.3726806640625
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1080.4613037109375,
                        "y": 6484.3759765625,
                        "z": 366.5783996582031
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1049.3609619140625,
                        "y": 6485.16357421875,
                        "z": 365.3321533203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1026.3895263671875,
                        "y": 6485.34130859375,
                        "z": 364.5108947753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1006.3540649414062,
                        "y": 6485.4931640625,
                        "z": 364.02264404296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -981.3815307617188,
                        "y": 6485.68212890625,
                        "z": 363.6194763183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.62006950378418,
                "transform": {
                    "location": {
                        "x": -951.278076171875,
                        "y": 6485.91162109375,
                        "z": 363.1856994628906
                    },
                    "rotation": {
                        "roll": 0.053785115480422974,
                        "pitch": 0.8706510066986084,
                        "yaw": -179.5550079345703
                    }
                },
                "velocity": {
                    "x": -9.61866283416748,
                    "y": -0.07525759190320969,
                    "z": 0.14626771211624146
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.669450759887695,
                "transform": {
                    "location": {
                        "x": -912.9951171875,
                        "y": 6486.21484375,
                        "z": 362.5093688964844
                    },
                    "rotation": {
                        "roll": -0.707183837890625,
                        "pitch": 0.7219441533088684,
                        "yaw": -179.5060272216797
                    }
                },
                "velocity": {
                    "x": -9.66865348815918,
                    "y": -0.11547563225030899,
                    "z": 0.04575033113360405
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.686260223388672,
                "transform": {
                    "location": {
                        "x": -851.156005859375,
                        "y": 6456.9453125,
                        "z": 361.5290222167969
                    },
                    "rotation": {
                        "roll": -0.1801147609949112,
                        "pitch": 0.5682170391082764,
                        "yaw": 143.0736541748047
                    }
                },
                "velocity": {
                    "x": -6.994295597076416,
                    "y": 5.149991512298584,
                    "z": 0.09238292276859283
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.725357532501221,
                "transform": {
                    "location": {
                        "x": -870.4345703125,
                        "y": 6466.99169921875,
                        "z": 361.87127685546875
                    },
                    "rotation": {
                        "roll": -0.4031371772289276,
                        "pitch": 0.7290953397750854,
                        "yaw": 160.88775634765625
                    }
                },
                "velocity": {
                    "x": -7.31084680557251,
                    "y": 2.4913079738616943,
                    "z": 0.1614122986793518
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04905927553772926,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            11.921676440383905,
            -0.1579158766462112
        ],
        "target_point_next": [
            63.418687748955875,
            4.104997797922504
        ]
    },
    "405": {
        "acceleration": [
            -1.4838409423828125,
            0.31885385513305664,
            -0.016951262950897217
        ],
        "angular_velocity": [
            -0.01936900056898594,
            -0.1081838309764862,
            2.687864065170288
        ],
        "forward_vector": [
            -0.976776123046875,
            0.21332669258117676,
            0.020003532990813255
        ],
        "right_vector": [
            -0.21337354183197021,
            -0.9769707322120667,
            -0.0002125594619428739
        ],
        "location": [
            -889.88232421875,
            6472.572265625,
            362.2594299316406
        ],
        "rotation": [
            0.012181197293102741,
            1.1461944580078125,
            167.68011474609375
        ],
        "velocity": [
            -8.141618728637695,
            1.7766540050506592,
            0.13927684724330902
        ],
        "speed": 8.333213964381727,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.409288408027668,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.02477889321744442,
                "transform": {
                    "location": {
                        "x": -831.30078125,
                        "y": 6486.8203125,
                        "z": 360.8812561035156
                    },
                    "rotation": {
                        "roll": 0.0009649336570873857,
                        "pitch": 0.38896557688713074,
                        "yaw": -179.5656280517578
                    }
                },
                "velocity": {
                    "x": -0.0001336940040346235,
                    "y": -7.395473221549764e-05,
                    "z": -0.024778421968221664
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.087461471557617,
                "transform": {
                    "location": {
                        "x": -880.5487060546875,
                        "y": 6493.34814453125,
                        "z": 361.812255859375
                    },
                    "rotation": {
                        "roll": 0.0022817240096628666,
                        "pitch": 1.3001127243041992,
                        "yaw": -179.5394287109375
                    }
                },
                "velocity": {
                    "x": -8.08520793914795,
                    "y": -0.06480710208415985,
                    "z": 0.17955243587493896
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.008611679077148,
                "transform": {
                    "location": {
                        "x": -882.26708984375,
                        "y": 6489.83544921875,
                        "z": 361.8360595703125
                    },
                    "rotation": {
                        "roll": 0.0005695072468370199,
                        "pitch": 1.2567752599716187,
                        "yaw": -179.54159545898438
                    }
                },
                "velocity": {
                    "x": -8.006430625915527,
                    "y": -0.06205596402287483,
                    "z": 0.17629003524780273
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.249860763549805,
                "transform": {
                    "location": {
                        "x": -896.4598999023438,
                        "y": 6486.32666015625,
                        "z": 362.1495361328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.188603162765503,
                        "yaw": -179.57875061035156
                    }
                },
                "velocity": {
                    "x": -9.247589111328125,
                    "y": -0.06877285987138748,
                    "z": 0.1931101381778717
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.603362083435059,
                "transform": {
                    "location": {
                        "x": -861.7348022460938,
                        "y": 6486.58984375,
                        "z": 361.4053955078125
                    },
                    "rotation": {
                        "roll": 0.00027298496570438147,
                        "pitch": 1.3398644924163818,
                        "yaw": -179.56732177734375
                    }
                },
                "velocity": {
                    "x": -9.600484848022461,
                    "y": -0.07247661799192429,
                    "z": 0.22359101474285126
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1601133346557617,
                "transform": {
                    "location": {
                        "x": -858.3052978515625,
                        "y": 6493.61572265625,
                        "z": 361.2984313964844
                    },
                    "rotation": {
                        "roll": 0.0036225938238203526,
                        "pitch": 1.128039836883545,
                        "yaw": -179.52691650390625
                    }
                },
                "velocity": {
                    "x": -1.1588717699050903,
                    "y": -0.03265256807208061,
                    "z": 0.042580537497997284
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3614000082015991,
                "transform": {
                    "location": {
                        "x": -858.4692993164062,
                        "y": 6490.11279296875,
                        "z": 361.29156494140625
                    },
                    "rotation": {
                        "roll": 0.000892010924872011,
                        "pitch": 1.2730720043182373,
                        "yaw": -179.47109985351562
                    }
                },
                "velocity": {
                    "x": -1.3608105182647705,
                    "y": -0.030698344111442566,
                    "z": 0.02573712356388569
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33561,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1245.429443359375,
                        "y": 6469.01416015625,
                        "z": 371.9037170410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1221.61279296875,
                        "y": 6471.5302734375,
                        "z": 371.3197326660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1193.033447265625,
                        "y": 6474.548828125,
                        "z": 370.5318298339844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.37841796875,
                        "y": 6477.15283203125,
                        "z": 369.7742004394531
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1142.7315673828125,
                        "y": 6479.8583984375,
                        "z": 368.8992919921875
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1123.898193359375,
                        "y": 6481.6396484375,
                        "z": 368.21722412109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1103.906494140625,
                        "y": 6483.13916015625,
                        "z": 367.46710205078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1082.9564208984375,
                        "y": 6484.2734375,
                        "z": 366.67315673828125
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1051.8585205078125,
                        "y": 6485.134765625,
                        "z": 365.4349670410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1028.8883056640625,
                        "y": 6485.322265625,
                        "z": 364.58544921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1008.853271484375,
                        "y": 6485.47412109375,
                        "z": 364.0705261230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -983.8811645507812,
                        "y": 6485.66357421875,
                        "z": 363.6586608886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.595993041992188,
                "transform": {
                    "location": {
                        "x": -953.6797485351562,
                        "y": 6485.89306640625,
                        "z": 363.22216796875
                    },
                    "rotation": {
                        "roll": 0.045903757214546204,
                        "pitch": 0.8793184757232666,
                        "yaw": -179.55560302734375
                    }
                },
                "velocity": {
                    "x": -9.594579696655273,
                    "y": -0.07502368092536926,
                    "z": 0.1466136872768402
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.632162094116211,
                "transform": {
                    "location": {
                        "x": -915.4068603515625,
                        "y": 6486.19482421875,
                        "z": 362.5562438964844
                    },
                    "rotation": {
                        "roll": -0.8596495985984802,
                        "pitch": 1.2369744777679443,
                        "yaw": -179.4489288330078
                    }
                },
                "velocity": {
                    "x": -9.630715370178223,
                    "y": -0.07806803286075592,
                    "z": 0.14752325415611267
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.523676872253418,
                "transform": {
                    "location": {
                        "x": -853.0009155273438,
                        "y": 6458.26416015625,
                        "z": 361.5545959472656
                    },
                    "rotation": {
                        "roll": -0.1255798637866974,
                        "pitch": 0.7703428268432617,
                        "yaw": 144.75389099121094
                    }
                },
                "velocity": {
                    "x": -7.792038440704346,
                    "y": 5.4746880531311035,
                    "z": 0.1111535057425499
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.357732772827148,
                "transform": {
                    "location": {
                        "x": -872.1928100585938,
                        "y": 6467.564453125,
                        "z": 361.91015625
                    },
                    "rotation": {
                        "roll": -0.358001708984375,
                        "pitch": 0.9080052971839905,
                        "yaw": 162.12530517578125
                    }
                },
                "velocity": {
                    "x": -7.02802038192749,
                    "y": 2.172046661376953,
                    "z": 0.15930414199829102
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.08653300255537033,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            9.883764666686062,
            -0.1769235982907822
        ],
        "target_point_next": [
            61.387786889501704,
            4.000432214149255
        ]
    },
    "410": {
        "acceleration": [
            -1.46820068359375,
            0.289762020111084,
            0.017128586769104004
        ],
        "angular_velocity": [
            -0.05022571235895157,
            -0.13119812309741974,
            -2.221874475479126
        ],
        "forward_vector": [
            -0.9768496751785278,
            0.21302923560142517,
            0.019575655460357666
        ],
        "right_vector": [
            -0.2130737602710724,
            -0.9770360589027405,
            -0.0001931947044795379
        ],
        "location": [
            -891.9656982421875,
            6473.02587890625,
            362.2945556640625
        ],
        "rotation": [
            0.011071363463997841,
            1.1216740608215332,
            167.6976776123047
        ],
        "velocity": [
            -8.510700225830078,
            1.8513414859771729,
            0.14232681691646576
        ],
        "speed": 8.709734992044494,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.413067621976764,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.07180412858724594,
                "transform": {
                    "location": {
                        "x": -831.30078125,
                        "y": 6486.8203125,
                        "z": 360.90130615234375
                    },
                    "rotation": {
                        "roll": -0.0014343262882903218,
                        "pitch": 0.38875386118888855,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0004445966915227473,
                    "y": -1.3890431546315085e-05,
                    "z": 0.07180275022983551
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.029518127441406,
                "transform": {
                    "location": {
                        "x": -882.5615234375,
                        "y": 6493.33251953125,
                        "z": 361.8570861816406
                    },
                    "rotation": {
                        "roll": 0.001445562462322414,
                        "pitch": 1.2517755031585693,
                        "yaw": -179.55233764648438
                    }
                },
                "velocity": {
                    "x": -8.027327537536621,
                    "y": -0.062409307807683945,
                    "z": 0.17683148384094238
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.057245254516602,
                "transform": {
                    "location": {
                        "x": -884.2742919921875,
                        "y": 6489.8203125,
                        "z": 361.8800048828125
                    },
                    "rotation": {
                        "roll": 0.0016111178556457162,
                        "pitch": 1.2599785327911377,
                        "yaw": -179.561767578125
                    }
                },
                "velocity": {
                    "x": -8.055103302001953,
                    "y": -0.06007520109415054,
                    "z": 0.17577770352363586
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.286812782287598,
                "transform": {
                    "location": {
                        "x": -898.776611328125,
                        "y": 6486.30908203125,
                        "z": 362.197021484375
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": 1.1677846908569336,
                        "yaw": -179.5496063232422
                    }
                },
                "velocity": {
                    "x": -9.284628868103027,
                    "y": -0.07164739817380905,
                    "z": 0.1882406324148178
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.61026668548584,
                "transform": {
                    "location": {
                        "x": -864.1356811523438,
                        "y": 6486.57177734375,
                        "z": 361.4618225097656
                    },
                    "rotation": {
                        "roll": 0.0003874523099511862,
                        "pitch": 1.3605053424835205,
                        "yaw": -179.57138061523438
                    }
                },
                "velocity": {
                    "x": -9.60728645324707,
                    "y": -0.07184287160634995,
                    "z": 0.22827863693237305
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.885317087173462,
                "transform": {
                    "location": {
                        "x": -858.8602294921875,
                        "y": 6493.603515625,
                        "z": 361.3116760253906
                    },
                    "rotation": {
                        "roll": 0.010980027727782726,
                        "pitch": 1.0623948574066162,
                        "yaw": -179.32261657714844
                    }
                },
                "velocity": {
                    "x": -2.8838114738464355,
                    "y": -0.0705312043428421,
                    "z": 0.060926396399736404
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8516851663589478,
                "transform": {
                    "location": {
                        "x": -858.8701171875,
                        "y": 6490.10546875,
                        "z": 361.299560546875
                    },
                    "rotation": {
                        "roll": 0.005279757548123598,
                        "pitch": 1.2794992923736572,
                        "yaw": -179.27574157714844
                    }
                },
                "velocity": {
                    "x": -1.8507431745529175,
                    "y": -0.0435146801173687,
                    "z": 0.039927300065755844
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1224.09814453125,
                        "y": 6471.267578125,
                        "z": 371.3832702636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1195.518798828125,
                        "y": 6474.2861328125,
                        "z": 370.60406494140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.8631591796875,
                        "y": 6476.8896484375,
                        "z": 369.85406494140625
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.21630859375,
                        "y": 6479.5966796875,
                        "z": 368.9877624511719
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1126.3870849609375,
                        "y": 6481.4248046875,
                        "z": 368.3075256347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1106.3984375,
                        "y": 6482.97216796875,
                        "z": 367.5617370605469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1085.4508056640625,
                        "y": 6484.15869140625,
                        "z": 366.7674865722656
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1054.3560791015625,
                        "y": 6485.10302734375,
                        "z": 365.5375671386719
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1031.3870849609375,
                        "y": 6485.30322265625,
                        "z": 364.666015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1011.3524780273438,
                        "y": 6485.455078125,
                        "z": 364.1244201660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -986.3807373046875,
                        "y": 6485.6435546875,
                        "z": 363.6977233886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.620723724365234,
                "transform": {
                    "location": {
                        "x": -956.0817260742188,
                        "y": 6485.875,
                        "z": 363.2591247558594
                    },
                    "rotation": {
                        "roll": 0.03831316530704498,
                        "pitch": 0.8881499171257019,
                        "yaw": -179.55628967285156
                    }
                },
                "velocity": {
                    "x": -9.619304656982422,
                    "y": -0.07489451766014099,
                    "z": 0.14727339148521423
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.643540382385254,
                "transform": {
                    "location": {
                        "x": -917.8147583007812,
                        "y": 6486.173828125,
                        "z": 362.6041259765625
                    },
                    "rotation": {
                        "roll": -1.14111328125,
                        "pitch": 1.1928446292877197,
                        "yaw": -179.49537658691406
                    }
                },
                "velocity": {
                    "x": -9.640755653381348,
                    "y": -0.04733116552233696,
                    "z": 0.22685052454471588
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.638237953186035,
                "transform": {
                    "location": {
                        "x": -855.0435791015625,
                        "y": 6459.623046875,
                        "z": 361.5848083496094
                    },
                    "rotation": {
                        "roll": -0.19638057053089142,
                        "pitch": 0.7803285717964172,
                        "yaw": 147.22689819335938
                    }
                },
                "velocity": {
                    "x": -8.131681442260742,
                    "y": 5.17265510559082,
                    "z": 0.12256990373134613
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.272513389587402,
                "transform": {
                    "location": {
                        "x": -874.052490234375,
                        "y": 6468.13427734375,
                        "z": 361.9493713378906
                    },
                    "rotation": {
                        "roll": -0.22003173828125,
                        "pitch": 1.3312174081802368,
                        "yaw": 162.99453735351562
                    }
                },
                "velocity": {
                    "x": -7.920271873474121,
                    "y": 2.382206916809082,
                    "z": 0.16989822685718536
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.10903317481279373,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            7.751525200737743,
            -0.18066036369824778
        ],
        "target_point_next": [
            59.25682580623229,
            3.9809037953238473
        ]
    },
    "415": {
        "acceleration": [
            -1.457977294921875,
            0.29538869857788086,
            -0.0034698843955993652
        ],
        "angular_velocity": [
            -0.05972890555858612,
            -0.17061781883239746,
            2.428264856338501
        ],
        "forward_vector": [
            -0.9770953059196472,
            0.21194806694984436,
            0.019046705216169357
        ],
        "right_vector": [
            -0.21198821067810059,
            -0.9772722125053406,
            -9.151221456704661e-05
        ],
        "location": [
            -894.140380859375,
            6473.49853515625,
            362.3302917480469
        ],
        "rotation": [
            0.00524421501904726,
            1.0913617610931396,
            167.76121520996094
        ],
        "velocity": [
            -8.874541282653809,
            1.9244128465652466,
            0.14273059368133545
        ],
        "speed": 9.080795547833464,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.4170889786842054,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.24067696928977966,
                "transform": {
                    "location": {
                        "x": -831.3048095703125,
                        "y": 6486.8203125,
                        "z": 360.90911865234375
                    },
                    "rotation": {
                        "roll": -0.0006103513296693563,
                        "pitch": 0.39066630601882935,
                        "yaw": -179.56546020507812
                    }
                },
                "velocity": {
                    "x": -0.24052703380584717,
                    "y": -0.0016812674002721906,
                    "z": 0.008326082490384579
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.070229530334473,
                "transform": {
                    "location": {
                        "x": -884.5733642578125,
                        "y": 6493.31689453125,
                        "z": 361.9009704589844
                    },
                    "rotation": {
                        "roll": 0.0015468483325093985,
                        "pitch": 1.267614722251892,
                        "yaw": -179.56590270996094
                    }
                },
                "velocity": {
                    "x": -8.06804084777832,
                    "y": -0.06116661801934242,
                    "z": 0.1777126044034958
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.012593269348145,
                "transform": {
                    "location": {
                        "x": -886.2826538085938,
                        "y": 6489.8046875,
                        "z": 361.9240417480469
                    },
                    "rotation": {
                        "roll": 0.0009773856727406383,
                        "pitch": 1.261324167251587,
                        "yaw": -179.55841064453125
                    }
                },
                "velocity": {
                    "x": -8.010428428649902,
                    "y": -0.06040512025356293,
                    "z": 0.17617665231227875
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.294195175170898,
                "transform": {
                    "location": {
                        "x": -901.0988159179688,
                        "y": 6486.29150390625,
                        "z": 362.2437744140625
                    },
                    "rotation": {
                        "roll": 5.589397915173322e-05,
                        "pitch": 1.1577237844467163,
                        "yaw": -179.5766143798828
                    }
                },
                "velocity": {
                    "x": -9.292074203491211,
                    "y": -0.06987876445055008,
                    "z": 0.18582431972026825
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.592198371887207,
                "transform": {
                    "location": {
                        "x": -866.5350341796875,
                        "y": 6486.5537109375,
                        "z": 361.5188293457031
                    },
                    "rotation": {
                        "roll": -0.0006713864859193563,
                        "pitch": 1.376283049583435,
                        "yaw": -179.55892944335938
                    }
                },
                "velocity": {
                    "x": -9.589174270629883,
                    "y": -0.07406040281057358,
                    "z": 0.22915513813495636
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.9687576293945312,
                "transform": {
                    "location": {
                        "x": -859.719482421875,
                        "y": 6493.5859375,
                        "z": 361.3294372558594
                    },
                    "rotation": {
                        "roll": 0.005753437522798777,
                        "pitch": 1.1578330993652344,
                        "yaw": -179.1165313720703
                    }
                },
                "velocity": {
                    "x": -3.967405319213867,
                    "y": -0.055849067866802216,
                    "z": 0.08725398778915405
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.3829357624053955,
                "transform": {
                    "location": {
                        "x": -859.4021606445312,
                        "y": 6490.09423828125,
                        "z": 361.31097412109375
                    },
                    "rotation": {
                        "roll": 0.008656494319438934,
                        "pitch": 1.3034322261810303,
                        "yaw": -179.11573791503906
                    }
                },
                "velocity": {
                    "x": -2.381681203842163,
                    "y": -0.05695096030831337,
                    "z": 0.05229039117693901
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1226.58349609375,
                        "y": 6471.00537109375,
                        "z": 371.44671630859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1198.004150390625,
                        "y": 6474.0234375,
                        "z": 370.67584228515625
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1173.3480224609375,
                        "y": 6476.6279296875,
                        "z": 369.9334716796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.700927734375,
                        "y": 6479.3359375,
                        "z": 369.0760803222656
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1128.8753662109375,
                        "y": 6481.2041015625,
                        "z": 368.39752197265625
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1108.8900146484375,
                        "y": 6482.8037109375,
                        "z": 367.65625
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1087.9451904296875,
                        "y": 6484.04345703125,
                        "z": 366.8621826171875
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1056.8536376953125,
                        "y": 6485.0615234375,
                        "z": 365.6405029296875
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1033.8858642578125,
                        "y": 6485.2841796875,
                        "z": 364.7472839355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1013.8516845703125,
                        "y": 6485.43603515625,
                        "z": 364.1789855957031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -988.88037109375,
                        "y": 6485.62548828125,
                        "z": 363.7369079589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.594687461853027,
                "transform": {
                    "location": {
                        "x": -958.483154296875,
                        "y": 6485.85595703125,
                        "z": 363.2961730957031
                    },
                    "rotation": {
                        "roll": 0.0316096693277359,
                        "pitch": 0.8929173946380615,
                        "yaw": -179.558837890625
                    }
                },
                "velocity": {
                    "x": -9.593241691589355,
                    "y": -0.07254692167043686,
                    "z": 0.1499256044626236
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.652807235717773,
                "transform": {
                    "location": {
                        "x": -920.2271118164062,
                        "y": 6486.158203125,
                        "z": 362.6536560058594
                    },
                    "rotation": {
                        "roll": -1.133728265762329,
                        "pitch": 1.1623820066452026,
                        "yaw": -179.47422790527344
                    }
                },
                "velocity": {
                    "x": -9.650712013244629,
                    "y": -0.06737914681434631,
                    "z": 0.18948711454868317
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.268031120300293,
                "transform": {
                    "location": {
                        "x": -856.9451904296875,
                        "y": 6460.79541015625,
                        "z": 361.61456298828125
                    },
                    "rotation": {
                        "roll": -0.1334838569164276,
                        "pitch": 0.648423969745636,
                        "yaw": 148.79893493652344
                    }
                },
                "velocity": {
                    "x": -7.076302528381348,
                    "y": 4.274702548980713,
                    "z": 0.11490564048290253
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.341681480407715,
                "transform": {
                    "location": {
                        "x": -876.1161499023438,
                        "y": 6468.751953125,
                        "z": 361.9926452636719
                    },
                    "rotation": {
                        "roll": -0.17456050217151642,
                        "pitch": 1.521547555923462,
                        "yaw": 163.42880249023438
                    }
                },
                "velocity": {
                    "x": -8.968122482299805,
                    "y": 2.60874342918396,
                    "z": 0.18508388102054596
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.12501144409179688,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            57.03574833663632,
            3.916118004222369
        ],
        "target_point_next": [
            79.46022115741097,
            8.289203042097634
        ]
    },
    "420": {
        "acceleration": [
            -1.4868927001953125,
            0.28722047805786133,
            -0.010763108730316162
        ],
        "angular_velocity": [
            -0.08255897462368011,
            -0.17279884219169617,
            -1.9685522317886353
        ],
        "forward_vector": [
            -0.9771775603294373,
            0.2116212248802185,
            0.018454933539032936
        ],
        "right_vector": [
            -0.21165700256824493,
            -0.9773440361022949,
            1.4911288417351898e-05
        ],
        "location": [
            -896.406494140625,
            6473.9892578125,
            362.3662109375
        ],
        "rotation": [
            -0.0008544994052499533,
            1.0574498176574707,
            167.780517578125
        ],
        "velocity": [
            -9.243483543395996,
            1.997454047203064,
            0.1430726796388626
        ],
        "speed": 9.456839360363508,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.4211196052195434,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3875998258590698,
                "transform": {
                    "location": {
                        "x": -831.5465698242188,
                        "y": 6486.81884765625,
                        "z": 360.9105529785156
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": 0.4345775842666626,
                        "yaw": -179.56407165527344
                    }
                },
                "velocity": {
                    "x": -1.3875389099121094,
                    "y": -0.010797625407576561,
                    "z": 0.00723278010264039
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.048554420471191,
                "transform": {
                    "location": {
                        "x": -886.588134765625,
                        "y": 6493.30126953125,
                        "z": 361.9451599121094
                    },
                    "rotation": {
                        "roll": -0.0008544923621229827,
                        "pitch": 1.2744927406311035,
                        "yaw": -179.56845092773438
                    }
                },
                "velocity": {
                    "x": -8.046394348144531,
                    "y": -0.06065269932150841,
                    "z": 0.17634302377700806
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.061052322387695,
                "transform": {
                    "location": {
                        "x": -888.2913208007812,
                        "y": 6489.7890625,
                        "z": 361.967529296875
                    },
                    "rotation": {
                        "roll": -0.0013427730882540345,
                        "pitch": 1.2353489398956299,
                        "yaw": -179.56198120117188
                    }
                },
                "velocity": {
                    "x": -8.059012413024902,
                    "y": -0.06369373202323914,
                    "z": 0.16976968944072723
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.289948463439941,
                "transform": {
                    "location": {
                        "x": -903.4215698242188,
                        "y": 6486.2744140625,
                        "z": 362.29010009765625
                    },
                    "rotation": {
                        "roll": 2.227386721642688e-05,
                        "pitch": 1.1473897695541382,
                        "yaw": -179.55418395996094
                    }
                },
                "velocity": {
                    "x": -9.287837028503418,
                    "y": -0.07102441787719727,
                    "z": 0.1849050670862198
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.618144035339355,
                "transform": {
                    "location": {
                        "x": -868.9361572265625,
                        "y": 6486.53564453125,
                        "z": 361.57611083984375
                    },
                    "rotation": {
                        "roll": -0.0003662110830191523,
                        "pitch": 1.3734962940216064,
                        "yaw": -179.5647735595703
                    }
                },
                "velocity": {
                    "x": -9.615138053894043,
                    "y": -0.07285220921039581,
                    "z": 0.22913724184036255
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.039676666259766,
                "transform": {
                    "location": {
                        "x": -860.8530883789062,
                        "y": 6493.56884765625,
                        "z": 361.3543701171875
                    },
                    "rotation": {
                        "roll": 0.008414283394813538,
                        "pitch": 1.2135469913482666,
                        "yaw": -179.1105194091797
                    }
                },
                "velocity": {
                    "x": -5.037759304046631,
                    "y": -0.0779857262969017,
                    "z": 0.11505725234746933
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.9041335582733154,
                "transform": {
                    "location": {
                        "x": -860.0653076171875,
                        "y": 6490.08251953125,
                        "z": 361.3253479003906
                    },
                    "rotation": {
                        "roll": 0.012282157316803932,
                        "pitch": 1.3358688354492188,
                        "yaw": -179.0527801513672
                    }
                },
                "velocity": {
                    "x": -2.903048038482666,
                    "y": -0.047374676913022995,
                    "z": 0.0637165978550911
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1229.06884765625,
                        "y": 6470.7421875,
                        "z": 371.50872802734375
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1200.489501953125,
                        "y": 6473.76123046875,
                        "z": 370.74664306640625
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1175.832763671875,
                        "y": 6476.36474609375,
                        "z": 370.0116271972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1150.1856689453125,
                        "y": 6479.07373046875,
                        "z": 369.16259765625
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1131.36328125,
                        "y": 6480.9765625,
                        "z": 368.4877014160156
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1111.381591796875,
                        "y": 6482.62548828125,
                        "z": 367.7508544921875
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1090.439208984375,
                        "y": 6483.916015625,
                        "z": 366.95654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1059.3511962890625,
                        "y": 6485.01806640625,
                        "z": 365.74310302734375
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1036.384033203125,
                        "y": 6485.2646484375,
                        "z": 364.8344421386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1016.3502807617188,
                        "y": 6485.41650390625,
                        "z": 364.2395324707031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -991.3800048828125,
                        "y": 6485.60693359375,
                        "z": 363.7760009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.62293529510498,
                "transform": {
                    "location": {
                        "x": -960.8849487304688,
                        "y": 6485.83740234375,
                        "z": 363.33319091796875
                    },
                    "rotation": {
                        "roll": 0.011291326954960823,
                        "pitch": 0.8806367516517639,
                        "yaw": -179.56185913085938
                    }
                },
                "velocity": {
                    "x": -9.621562957763672,
                    "y": -0.07277382910251617,
                    "z": 0.1453075408935547
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.680685997009277,
                "transform": {
                    "location": {
                        "x": -922.6371459960938,
                        "y": 6486.1435546875,
                        "z": 362.69586181640625
                    },
                    "rotation": {
                        "roll": -0.6608275175094604,
                        "pitch": 0.9077184200286865,
                        "yaw": -179.48629760742188
                    }
                },
                "velocity": {
                    "x": -9.680008888244629,
                    "y": -0.1051562950015068,
                    "z": 0.04528414458036423
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.137901306152344,
                "transform": {
                    "location": {
                        "x": -858.6893310546875,
                        "y": 6461.8056640625,
                        "z": 361.6438293457031
                    },
                    "rotation": {
                        "roll": -0.175689697265625,
                        "pitch": 0.8033121824264526,
                        "yaw": 150.44503784179688
                    }
                },
                "velocity": {
                    "x": -7.134029388427734,
                    "y": 3.9136269092559814,
                    "z": 0.12073739618062973
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.134833335876465,
                "transform": {
                    "location": {
                        "x": -878.350341796875,
                        "y": 6469.39501953125,
                        "z": 362.03912353515625
                    },
                    "rotation": {
                        "roll": -0.136871337890625,
                        "pitch": 1.2997030019760132,
                        "yaw": 164.0509490966797
                    }
                },
                "velocity": {
                    "x": -8.785613059997559,
                    "y": 2.495191812515259,
                    "z": 0.1794547289609909
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.12176641821861267,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            54.718428185123955,
            3.8968566192371155
        ],
        "target_point_next": [
            77.14437400292746,
            8.262381583670445
        ]
    },
    "425": {
        "acceleration": [
            -1.3359832763671875,
            0.2605438232421875,
            -0.015485882759094238
        ],
        "angular_velocity": [
            -0.031563129276037216,
            -0.2659527659416199,
            2.186420202255249
        ],
        "forward_vector": [
            -0.977422297000885,
            0.21054421365261078,
            0.017799746245145798
        ],
        "right_vector": [
            -0.21057569980621338,
            -0.9775775671005249,
            0.00010757461859611794
        ],
        "location": [
            -898.7643432617188,
            6474.498046875,
            362.4020080566406
        ],
        "rotation": [
            -0.0061645484529435635,
            1.0199042558670044,
            167.8437957763672
        ],
        "velocity": [
            -9.601754188537598,
            2.0677707195281982,
            0.14255031943321228
        ],
        "speed": 9.821881655041333,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.4252606163339614,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9426597356796265,
                "transform": {
                    "location": {
                        "x": -831.9716186523438,
                        "y": 6486.81494140625,
                        "z": 360.9130859375
                    },
                    "rotation": {
                        "roll": -0.0013427730882540345,
                        "pitch": 0.4434090256690979,
                        "yaw": -179.62313842773438
                    }
                },
                "velocity": {
                    "x": -1.9425698518753052,
                    "y": -0.014234866015613079,
                    "z": 0.012101315893232822
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.070552825927734,
                "transform": {
                    "location": {
                        "x": -888.602294921875,
                        "y": 6493.2861328125,
                        "z": 361.98870849609375
                    },
                    "rotation": {
                        "roll": 0.0009798508835956454,
                        "pitch": 1.2378146648406982,
                        "yaw": -179.57205200195312
                    }
                },
                "velocity": {
                    "x": -8.068519592285156,
                    "y": -0.060102447867393494,
                    "z": 0.17090746760368347
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.009312629699707,
                "transform": {
                    "location": {
                        "x": -890.2988891601562,
                        "y": 6489.7744140625,
                        "z": 362.01019287109375
                    },
                    "rotation": {
                        "roll": -0.0011291502742096782,
                        "pitch": 1.2031923532485962,
                        "yaw": -179.56851196289062
                    }
                },
                "velocity": {
                    "x": -8.007315635681152,
                    "y": -0.060014765709638596,
                    "z": 0.1684851199388504
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.275634765625,
                "transform": {
                    "location": {
                        "x": -905.7472534179688,
                        "y": 6486.25439453125,
                        "z": 362.3541259765625
                    },
                    "rotation": {
                        "roll": -0.5082396864891052,
                        "pitch": 1.9564597606658936,
                        "yaw": -179.57086181640625
                    }
                },
                "velocity": {
                    "x": -9.272229194641113,
                    "y": -0.04223190248012543,
                    "z": 0.24774403870105743
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.590696334838867,
                "transform": {
                    "location": {
                        "x": -871.3359375,
                        "y": 6486.517578125,
                        "z": 361.6329345703125
                    },
                    "rotation": {
                        "roll": -0.0004882818320766091,
                        "pitch": 1.3540234565734863,
                        "yaw": -179.57577514648438
                    }
                },
                "velocity": {
                    "x": -9.587849617004395,
                    "y": -0.07105223089456558,
                    "z": 0.22259362041950226
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.448836326599121,
                "transform": {
                    "location": {
                        "x": -862.1704711914062,
                        "y": 6493.54736328125,
                        "z": 361.38470458984375
                    },
                    "rotation": {
                        "roll": 0.01144716888666153,
                        "pitch": 1.2652925252914429,
                        "yaw": -179.07305908203125
                    }
                },
                "velocity": {
                    "x": -5.446722984313965,
                    "y": -0.08441349864006042,
                    "z": 0.1260884702205658
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.5172555446624756,
                "transform": {
                    "location": {
                        "x": -860.8673095703125,
                        "y": 6490.0693359375,
                        "z": 361.3435363769531
                    },
                    "rotation": {
                        "roll": 0.01220716442912817,
                        "pitch": 1.3459433317184448,
                        "yaw": -179.06240844726562
                    }
                },
                "velocity": {
                    "x": -3.5158474445343018,
                    "y": -0.05773620307445526,
                    "z": 0.08106078952550888
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1231.5543212890625,
                        "y": 6470.48046875,
                        "z": 371.5706481933594
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1202.974853515625,
                        "y": 6473.49853515625,
                        "z": 370.8170166015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1178.3177490234375,
                        "y": 6476.1025390625,
                        "z": 370.0894470214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1152.67041015625,
                        "y": 6478.81103515625,
                        "z": 369.2491455078125
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1133.8505859375,
                        "y": 6480.74365234375,
                        "z": 368.5777282714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1113.87255859375,
                        "y": 6482.44384765625,
                        "z": 367.8451843261719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1092.9334716796875,
                        "y": 6483.78857421875,
                        "z": 367.0512390136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1061.8487548828125,
                        "y": 6484.96435546875,
                        "z": 365.8459777832031
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1038.8822021484375,
                        "y": 6485.24658203125,
                        "z": 364.92242431640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1018.8491821289062,
                        "y": 6485.3984375,
                        "z": 364.3006896972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -993.8795776367188,
                        "y": 6485.587890625,
                        "z": 363.815185546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.59353256225586,
                "transform": {
                    "location": {
                        "x": -963.28662109375,
                        "y": 6485.81884765625,
                        "z": 363.37066650390625
                    },
                    "rotation": {
                        "roll": 0.01901925355195999,
                        "pitch": 0.8937028646469116,
                        "yaw": -179.56765747070312
                    }
                },
                "velocity": {
                    "x": -9.592123031616211,
                    "y": -0.07298324257135391,
                    "z": 0.14736267924308777
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.643209457397461,
                "transform": {
                    "location": {
                        "x": -925.046630859375,
                        "y": 6486.12060546875,
                        "z": 362.7405700683594
                    },
                    "rotation": {
                        "roll": -0.817596435546875,
                        "pitch": 0.9768877625465393,
                        "yaw": -179.4309539794922
                    }
                },
                "velocity": {
                    "x": -9.64128589630127,
                    "y": -0.06788937002420425,
                    "z": 0.18023578822612762
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.100720405578613,
                "transform": {
                    "location": {
                        "x": -860.59130859375,
                        "y": 6462.810546875,
                        "z": 361.67706298828125
                    },
                    "rotation": {
                        "roll": -0.1274413764476776,
                        "pitch": 1.020648717880249,
                        "yaw": 152.3926544189453
                    }
                },
                "velocity": {
                    "x": -8.082015991210938,
                    "y": 4.181313514709473,
                    "z": 0.14401954412460327
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.488916397094727,
                "transform": {
                    "location": {
                        "x": -880.4863891601562,
                        "y": 6470.0,
                        "z": 362.0838623046875
                    },
                    "rotation": {
                        "roll": -0.07635495066642761,
                        "pitch": 1.015635371208191,
                        "yaw": 164.22113037109375
                    }
                },
                "velocity": {
                    "x": -8.169074058532715,
                    "y": 2.3021745681762695,
                    "z": 0.16708028316497803
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11540200561285019,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            52.310581167867134,
            3.837272129466526
        ],
        "target_point_next": [
            74.74133646788937,
            8.17801753880271
        ]
    },
    "430": {
        "acceleration": [
            -0.9182357788085938,
            0.15834331512451172,
            -0.004507899284362793
        ],
        "angular_velocity": [
            -0.041945576667785645,
            -0.1954537183046341,
            -1.773245096206665
        ],
        "forward_vector": [
            -0.9775310754776001,
            0.21012943983078003,
            0.016690073534846306
        ],
        "right_vector": [
            -0.2101546972990036,
            -0.977668046951294,
            0.0002460417745169252
        ],
        "location": [
            -901.2001953125,
            6475.02099609375,
            362.43768310546875
        ],
        "rotation": [
            -0.014099120162427425,
            0.9563152194023132,
            167.86834716796875
        ],
        "velocity": [
            -9.862180709838867,
            2.1160078048706055,
            0.14247733354568481
        ],
        "speed": 10.086629634510786,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.4295442003626664,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.4687705039978027,
                "transform": {
                    "location": {
                        "x": -832.5250854492188,
                        "y": 6486.81103515625,
                        "z": 360.9165954589844
                    },
                    "rotation": {
                        "roll": -0.0006408690824173391,
                        "pitch": 0.4660852551460266,
                        "yaw": -179.61402893066406
                    }
                },
                "velocity": {
                    "x": -2.4686458110809326,
                    "y": -0.017506122589111328,
                    "z": 0.017585886642336845
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.040475845336914,
                "transform": {
                    "location": {
                        "x": -890.614990234375,
                        "y": 6493.27099609375,
                        "z": 362.0314025878906
                    },
                    "rotation": {
                        "roll": 2.8332950023468584e-05,
                        "pitch": 1.2044354677200317,
                        "yaw": -179.57046508789062
                    }
                },
                "velocity": {
                    "x": -8.038475036621094,
                    "y": -0.05967741832137108,
                    "z": 0.16912664473056793
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.062053680419922,
                "transform": {
                    "location": {
                        "x": -892.3076171875,
                        "y": 6489.75927734375,
                        "z": 362.05224609375
                    },
                    "rotation": {
                        "roll": -0.0014343260554596782,
                        "pitch": 1.2054122686386108,
                        "yaw": -179.56655883789062
                    }
                },
                "velocity": {
                    "x": -8.060044288635254,
                    "y": -0.060749657452106476,
                    "z": 0.1694028079509735
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.267339706420898,
                "transform": {
                    "location": {
                        "x": -908.0579223632812,
                        "y": 6486.23876953125,
                        "z": 362.4183044433594
                    },
                    "rotation": {
                        "roll": -0.9578248262405396,
                        "pitch": 1.3529032468795776,
                        "yaw": -179.59877014160156
                    }
                },
                "velocity": {
                    "x": -9.263246536254883,
                    "y": -0.033240821212530136,
                    "z": 0.27337586879730225
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.618081092834473,
                "transform": {
                    "location": {
                        "x": -873.7362060546875,
                        "y": 6486.5,
                        "z": 361.6886901855469
                    },
                    "rotation": {
                        "roll": 0.0002495943335816264,
                        "pitch": 1.3143879175186157,
                        "yaw": -179.57241821289062
                    }
                },
                "velocity": {
                    "x": -9.615288734436035,
                    "y": -0.07183004915714264,
                    "z": 0.22031749784946442
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.858779430389404,
                "transform": {
                    "location": {
                        "x": -863.5966186523438,
                        "y": 6493.525390625,
                        "z": 361.4179992675781
                    },
                    "rotation": {
                        "roll": 0.011848483234643936,
                        "pitch": 1.301649570465088,
                        "yaw": -179.04454040527344
                    }
                },
                "velocity": {
                    "x": -5.856391906738281,
                    "y": -0.0932682678103447,
                    "z": 0.13882045447826385
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.32511043548584,
                "transform": {
                    "location": {
                        "x": -861.8472290039062,
                        "y": 6490.05322265625,
                        "z": 361.3662109375
                    },
                    "rotation": {
                        "roll": 0.011693170294165611,
                        "pitch": 1.3476167917251587,
                        "yaw": -179.0659942626953
                    }
                },
                "velocity": {
                    "x": -4.323407173156738,
                    "y": -0.0696738138794899,
                    "z": 0.09939168393611908
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1234.0396728515625,
                        "y": 6470.21728515625,
                        "z": 371.6311950683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1205.460205078125,
                        "y": 6473.236328125,
                        "z": 370.88629150390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1180.8028564453125,
                        "y": 6475.84033203125,
                        "z": 370.166015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.1551513671875,
                        "y": 6478.548828125,
                        "z": 369.3341064453125
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1136.337158203125,
                        "y": 6480.5029296875,
                        "z": 368.6678466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1116.36279296875,
                        "y": 6482.2529296875,
                        "z": 367.9391174316406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1095.426513671875,
                        "y": 6483.6494140625,
                        "z": 367.1456298828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1064.3460693359375,
                        "y": 6484.9072265625,
                        "z": 365.94818115234375
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1041.38037109375,
                        "y": 6485.2275390625,
                        "z": 365.0163269042969
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1021.3477783203125,
                        "y": 6485.37939453125,
                        "z": 364.3678894042969
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -996.3792114257812,
                        "y": 6485.56884765625,
                        "z": 363.8542785644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.621399879455566,
                "transform": {
                    "location": {
                        "x": -965.6883544921875,
                        "y": 6485.80126953125,
                        "z": 363.4080505371094
                    },
                    "rotation": {
                        "roll": 0.013823911547660828,
                        "pitch": 0.9096786975860596,
                        "yaw": -179.5725555419922
                    }
                },
                "velocity": {
                    "x": -9.619939804077148,
                    "y": -0.07209429889917374,
                    "z": 0.1513071209192276
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.640589714050293,
                "transform": {
                    "location": {
                        "x": -927.4568481445312,
                        "y": 6486.1005859375,
                        "z": 362.7808532714844
                    },
                    "rotation": {
                        "roll": -0.6825864315032959,
                        "pitch": 1.1220701932907104,
                        "yaw": -179.4928741455078
                    }
                },
                "velocity": {
                    "x": -9.63831901550293,
                    "y": -0.0664207860827446,
                    "z": 0.19842839241027832
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.013923645019531,
                "transform": {
                    "location": {
                        "x": -862.7542724609375,
                        "y": 6463.892578125,
                        "z": 361.716796875
                    },
                    "rotation": {
                        "roll": -0.1918945014476776,
                        "pitch": 1.123579740524292,
                        "yaw": 153.9911651611328
                    }
                },
                "velocity": {
                    "x": -9.050384521484375,
                    "y": 4.2826409339904785,
                    "z": 0.16791848838329315
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.831871032714844,
                "transform": {
                    "location": {
                        "x": -882.5487060546875,
                        "y": 6470.56494140625,
                        "z": 362.1246337890625
                    },
                    "rotation": {
                        "roll": -0.1044006198644638,
                        "pitch": 1.1047557592391968,
                        "yaw": 164.7658233642578
                    }
                },
                "velocity": {
                    "x": -8.526312828063965,
                    "y": 2.296973943710327,
                    "z": 0.16685928404331207
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.09626290202140808,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            49.82086430080868,
            3.814228774339096
        ],
        "target_point_next": [
            72.25347625055564,
            8.145368941803003
        ]
    },
    "435": {
        "acceleration": [
            -0.6517410278320312,
            0.10939598083496094,
            0.01741170883178711
        ],
        "angular_velocity": [
            -0.0916522741317749,
            -0.3071540296077728,
            2.0829570293426514
        ],
        "forward_vector": [
            -0.9777862429618835,
            0.20903070271015167,
            0.01550266519188881
        ],
        "right_vector": [
            -0.20905032753944397,
            -0.9779048562049866,
            0.00036214638384990394
        ],
        "location": [
            -903.6915283203125,
            6475.5546875,
            362.4723815917969
        ],
        "rotation": [
            -0.020751953125,
            0.8882728815078735,
            167.93296813964844
        ],
        "velocity": [
            -10.054850578308105,
            2.149519681930542,
            0.13872085511684418
        ],
        "speed": 10.282045273928219,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.433784628572255,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -834.6119995117188,
                        "y": 6486.794921875,
                        "z": 360.93804931640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.074039459228516,
                "transform": {
                    "location": {
                        "x": -892.629150390625,
                        "y": 6493.25537109375,
                        "z": 362.0735168457031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2135400772094727,
                        "yaw": -179.5677032470703
                    }
                },
                "velocity": {
                    "x": -8.072016716003418,
                    "y": -0.06174498051404953,
                    "z": 0.16981062293052673
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.009130477905273,
                "transform": {
                    "location": {
                        "x": -894.3158569335938,
                        "y": 6489.74365234375,
                        "z": 362.0944519042969
                    },
                    "rotation": {
                        "roll": -0.0002136233524652198,
                        "pitch": 1.2068123817443848,
                        "yaw": -179.5661163330078
                    }
                },
                "velocity": {
                    "x": -8.007152557373047,
                    "y": -0.058611590415239334,
                    "z": 0.1680668443441391
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.298833847045898,
                "transform": {
                    "location": {
                        "x": -910.376708984375,
                        "y": 6486.22802734375,
                        "z": 362.4709777832031
                    },
                    "rotation": {
                        "roll": -1.3909302949905396,
                        "pitch": 1.11444091796875,
                        "yaw": -179.59146118164062
                    }
                },
                "velocity": {
                    "x": -9.297098159790039,
                    "y": -0.046325359493494034,
                    "z": 0.173583522439003
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.591514587402344,
                "transform": {
                    "location": {
                        "x": -876.1365966796875,
                        "y": 6486.48095703125,
                        "z": 361.7435607910156
                    },
                    "rotation": {
                        "roll": -0.0005187988863326609,
                        "pitch": 1.3158905506134033,
                        "yaw": -179.5640411376953
                    }
                },
                "velocity": {
                    "x": -9.588724136352539,
                    "y": -0.07295500487089157,
                    "z": 0.21953558921813965
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.698119640350342,
                "transform": {
                    "location": {
                        "x": -865.3555297851562,
                        "y": 6493.49853515625,
                        "z": 361.46026611328125
                    },
                    "rotation": {
                        "roll": 0.003034604247659445,
                        "pitch": 1.2178431749343872,
                        "yaw": -179.14886474609375
                    }
                },
                "velocity": {
                    "x": -7.695408821105957,
                    "y": -0.09279089421033859,
                    "z": 0.18197251856327057
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.258992671966553,
                "transform": {
                    "location": {
                        "x": -863.05029296875,
                        "y": 6490.0341796875,
                        "z": 361.39447021484375
                    },
                    "rotation": {
                        "roll": 0.011836922727525234,
                        "pitch": 1.3711262941360474,
                        "yaw": -179.0689239501953
                    }
                },
                "velocity": {
                    "x": -5.25682258605957,
                    "y": -0.08357744663953781,
                    "z": 0.12582583725452423
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1236.525146484375,
                        "y": 6469.95556640625,
                        "z": 371.69171142578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.945556640625,
                        "y": 6472.97412109375,
                        "z": 370.95513916015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1183.287841796875,
                        "y": 6475.578125,
                        "z": 370.2420959472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.639892578125,
                        "y": 6478.2861328125,
                        "z": 369.4188232421875
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1138.8231201171875,
                        "y": 6480.2568359375,
                        "z": 368.75775146484375
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1118.8526611328125,
                        "y": 6482.05859375,
                        "z": 368.0323486328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1097.919677734375,
                        "y": 6483.509765625,
                        "z": 367.24029541015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1066.843017578125,
                        "y": 6484.84033203125,
                        "z": 366.04913330078125
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1043.8785400390625,
                        "y": 6485.20849609375,
                        "z": 365.11083984375
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1023.8466796875,
                        "y": 6485.3603515625,
                        "z": 364.43572998046875
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -998.8787841796875,
                        "y": 6485.5498046875,
                        "z": 363.8934020996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.59569263458252,
                "transform": {
                    "location": {
                        "x": -968.0899658203125,
                        "y": 6485.78369140625,
                        "z": 363.4457702636719
                    },
                    "rotation": {
                        "roll": 0.009123863652348518,
                        "pitch": 0.896038830280304,
                        "yaw": -179.57308959960938
                    }
                },
                "velocity": {
                    "x": -9.59426498413086,
                    "y": -0.0715322270989418,
                    "z": 0.14927387237548828
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.656692504882812,
                "transform": {
                    "location": {
                        "x": -929.8677978515625,
                        "y": 6486.0830078125,
                        "z": 362.8240051269531
                    },
                    "rotation": {
                        "roll": -0.6587522029876709,
                        "pitch": 0.9165225625038147,
                        "yaw": -179.4789581298828
                    }
                },
                "velocity": {
                    "x": -9.655118942260742,
                    "y": -0.07742248475551605,
                    "z": 0.15615813434123993
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.92924690246582,
                "transform": {
                    "location": {
                        "x": -864.923828125,
                        "y": 6464.869140625,
                        "z": 361.75811767578125
                    },
                    "rotation": {
                        "roll": -0.162384033203125,
                        "pitch": 0.9531323313713074,
                        "yaw": 156.4084930419922
                    }
                },
                "velocity": {
                    "x": -8.186756134033203,
                    "y": 3.561232805252075,
                    "z": 0.16151905059814453
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.816150665283203,
                "transform": {
                    "location": {
                        "x": -884.7609252929688,
                        "y": 6471.15869140625,
                        "z": 362.1663513183594
                    },
                    "rotation": {
                        "roll": -0.06692501902580261,
                        "pitch": 1.3167306184768677,
                        "yaw": 165.0377960205078
                    }
                },
                "velocity": {
                    "x": -9.48306655883789,
                    "y": 2.52908992767334,
                    "z": 0.1787925809621811
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06319766491651535,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            47.27727891872877,
            3.7591145376356625
        ],
        "target_point_next": [
            69.71476091594724,
            8.064954253956575
        ]
    },
    "440": {
        "acceleration": [
            -0.2678108215332031,
            -0.031189918518066406,
            0.0011298060417175293
        ],
        "angular_velocity": [
            -0.12945477664470673,
            -0.21474623680114746,
            -1.5887271165847778
        ],
        "forward_vector": [
            -0.9779142141342163,
            0.20850639045238495,
            0.014455052092671394
        ],
        "right_vector": [
            -0.20852111279964447,
            -0.9780177474021912,
            0.0004979592049494386
        ],
        "location": [
            -906.2202758789062,
            6476.09423828125,
            362.50634765625
        ],
        "rotation": [
            -0.028533941134810448,
            0.8282423615455627,
            167.96388244628906
        ],
        "velocity": [
            -10.159008026123047,
            2.16055965423584,
            0.13444091379642487
        ],
        "speed": 10.386215003279307,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.4380097481896534,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.725564956665039,
                "transform": {
                    "location": {
                        "x": -837.0574951171875,
                        "y": 6486.77587890625,
                        "z": 360.9571533203125
                    },
                    "rotation": {
                        "roll": -0.00012207018880872056,
                        "pitch": 0.6149697303771973,
                        "yaw": -179.5653076171875
                    }
                },
                "velocity": {
                    "x": -9.724994659423828,
                    "y": -0.07462447136640549,
                    "z": 0.07424487918615341
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.043035507202148,
                "transform": {
                    "location": {
                        "x": -894.6432495117188,
                        "y": 6493.24072265625,
                        "z": 362.11578369140625
                    },
                    "rotation": {
                        "roll": 0.0003181006759405136,
                        "pitch": 1.2164019346237183,
                        "yaw": -179.56927490234375
                    }
                },
                "velocity": {
                    "x": -8.041030883789062,
                    "y": -0.060474757105112076,
                    "z": 0.16907694935798645
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.063576698303223,
                "transform": {
                    "location": {
                        "x": -896.3245239257812,
                        "y": 6489.728515625,
                        "z": 362.13629150390625
                    },
                    "rotation": {
                        "roll": 0.000731150503270328,
                        "pitch": 1.1933568716049194,
                        "yaw": -179.5603485107422
                    }
                },
                "velocity": {
                    "x": -8.061633110046387,
                    "y": -0.06204256787896156,
                    "z": 0.16580413281917572
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.327824592590332,
                "transform": {
                    "location": {
                        "x": -912.69921875,
                        "y": 6486.21630859375,
                        "z": 362.50738525390625
                    },
                    "rotation": {
                        "roll": -0.7929380536079407,
                        "pitch": 0.7505762577056885,
                        "yaw": -179.524169921875
                    }
                },
                "velocity": {
                    "x": -9.326957702636719,
                    "y": -0.09708498418331146,
                    "z": 0.08213996887207031
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.616971969604492,
                "transform": {
                    "location": {
                        "x": -878.537109375,
                        "y": 6486.462890625,
                        "z": 361.7984313964844
                    },
                    "rotation": {
                        "roll": 8.421025995630771e-05,
                        "pitch": 1.3176116943359375,
                        "yaw": -179.56341552734375
                    }
                },
                "velocity": {
                    "x": -9.614188194274902,
                    "y": -0.07319962978363037,
                    "z": 0.2194736748933792
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.241718292236328,
                "transform": {
                    "location": {
                        "x": -867.3770141601562,
                        "y": 6493.47412109375,
                        "z": 361.5078430175781
                    },
                    "rotation": {
                        "roll": 0.004076967015862465,
                        "pitch": 1.2886449098587036,
                        "yaw": -179.2559814453125
                    }
                },
                "velocity": {
                    "x": -8.238784790039062,
                    "y": -0.09664741158485413,
                    "z": 0.19750207662582397
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.576247692108154,
                "transform": {
                    "location": {
                        "x": -864.3990478515625,
                        "y": 6490.009765625,
                        "z": 361.42626953125
                    },
                    "rotation": {
                        "roll": 0.006834726780653,
                        "pitch": 1.3766381740570068,
                        "yaw": -179.32725524902344
                    }
                },
                "velocity": {
                    "x": -5.574060440063477,
                    "y": -0.08621121942996979,
                    "z": 0.1302013248205185
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1239.010498046875,
                        "y": 6469.69287109375,
                        "z": 371.75103759765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1210.430908203125,
                        "y": 6472.7119140625,
                        "z": 371.02294921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1185.773193359375,
                        "y": 6475.3154296875,
                        "z": 370.31695556640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.12451171875,
                        "y": 6478.0234375,
                        "z": 369.5020751953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.3084716796875,
                        "y": 6480.00439453125,
                        "z": 368.8478698730469
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1121.34228515625,
                        "y": 6481.85546875,
                        "z": 368.1240234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1100.4122314453125,
                        "y": 6483.35693359375,
                        "z": 367.3346252441406
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1069.3399658203125,
                        "y": 6484.77197265625,
                        "z": 366.1490783691406
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1046.376708984375,
                        "y": 6485.1884765625,
                        "z": 365.2112731933594
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1026.345458984375,
                        "y": 6485.34130859375,
                        "z": 364.5095520019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1001.37841796875,
                        "y": 6485.5302734375,
                        "z": 363.9342956542969
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.620367050170898,
                "transform": {
                    "location": {
                        "x": -970.49169921875,
                        "y": 6485.765625,
                        "z": 363.4830627441406
                    },
                    "rotation": {
                        "roll": 0.0013987503480166197,
                        "pitch": 0.8954445719718933,
                        "yaw": -179.57020568847656
                    }
                },
                "velocity": {
                    "x": -9.618917465209961,
                    "y": -0.0721704512834549,
                    "z": 0.15060733258724213
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.649535179138184,
                "transform": {
                    "location": {
                        "x": -932.2808227539062,
                        "y": 6486.064453125,
                        "z": 362.86175537109375
                    },
                    "rotation": {
                        "roll": -0.5771482586860657,
                        "pitch": 0.9286461472511292,
                        "yaw": -179.49874877929688
                    }
                },
                "velocity": {
                    "x": -9.648066520690918,
                    "y": -0.08231490105390549,
                    "z": 0.146854430437088
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.772664070129395,
                "transform": {
                    "location": {
                        "x": -866.9301147460938,
                        "y": 6465.71630859375,
                        "z": 361.79876708984375
                    },
                    "rotation": {
                        "roll": -0.162811279296875,
                        "pitch": 1.0597174167633057,
                        "yaw": 157.45887756347656
                    }
                },
                "velocity": {
                    "x": -8.144186019897461,
                    "y": 3.256375312805176,
                    "z": 0.16699157655239105
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.401641845703125,
                "transform": {
                    "location": {
                        "x": -887.2604370117188,
                        "y": 6471.80908203125,
                        "z": 362.21209716796875
                    },
                    "rotation": {
                        "roll": -0.1268005222082138,
                        "pitch": 1.3558403253555298,
                        "yaw": 165.58132934570312
                    }
                },
                "velocity": {
                    "x": -10.078375816345215,
                    "y": 2.566537380218506,
                    "z": 0.1827193945646286
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.024541065096855164,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            44.69363132245085,
            3.7339920259905606
        ],
        "target_point_next": [
            67.13343220814063,
            8.027730519278816
        ]
    },
    "445": {
        "acceleration": [
            0.15604019165039062,
            -0.2369546890258789,
            -0.0016775727272033691
        ],
        "angular_velocity": [
            -0.18435907363891602,
            -0.10416451096534729,
            2.873509168624878
        ],
        "forward_vector": [
            -0.9785810112953186,
            0.20541833341121674,
            0.013510770164430141
        ],
        "right_vector": [
            -0.20542390644550323,
            -0.9786725640296936,
            0.0009879420977085829
        ],
        "location": [
            -908.7598266601562,
            6476.63037109375,
            362.5399169921875
        ],
        "rotation": [
            -0.05661008507013321,
            0.7741336226463318,
            168.14491271972656
        ],
        "velocity": [
            -10.146200180053711,
            2.119433641433716,
            0.13359731435775757
        ],
        "speed": 10.365200290113208,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.4421655860970715,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -839.4854736328125,
                        "y": 6486.7578125,
                        "z": 360.9850769042969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.072530746459961,
                "transform": {
                    "location": {
                        "x": -896.6571044921875,
                        "y": 6493.2255859375,
                        "z": 362.15771484375
                    },
                    "rotation": {
                        "roll": -0.00042724612285383046,
                        "pitch": 1.1978033781051636,
                        "yaw": -179.5669403076172
                    }
                },
                "velocity": {
                    "x": -8.07058334350586,
                    "y": -0.06234976276755333,
                    "z": 0.1659509241580963
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33574,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.009308815002441,
                "transform": {
                    "location": {
                        "x": -898.3326416015625,
                        "y": 6489.712890625,
                        "z": 362.1775817871094
                    },
                    "rotation": {
                        "roll": 0.0006417447584681213,
                        "pitch": 1.1632972955703735,
                        "yaw": -179.56092834472656
                    }
                },
                "velocity": {
                    "x": -8.00743293762207,
                    "y": -0.06358365714550018,
                    "z": 0.16125626862049103
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.3020658493042,
                "transform": {
                    "location": {
                        "x": -915.0264892578125,
                        "y": 6486.19873046875,
                        "z": 362.55401611328125
                    },
                    "rotation": {
                        "roll": -0.856536865234375,
                        "pitch": 1.2191818952560425,
                        "yaw": -179.5718994140625
                    }
                },
                "velocity": {
                    "x": -9.301020622253418,
                    "y": -0.07584255188703537,
                    "z": 0.11698110401630402
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.592825889587402,
                "transform": {
                    "location": {
                        "x": -880.9373168945312,
                        "y": 6486.4443359375,
                        "z": 361.852294921875
                    },
                    "rotation": {
                        "roll": -0.0007629395695403218,
                        "pitch": 1.2716854810714722,
                        "yaw": -179.56341552734375
                    }
                },
                "velocity": {
                    "x": -9.590189933776855,
                    "y": -0.0730031430721283,
                    "z": 0.21268333494663239
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.949176788330078,
                "transform": {
                    "location": {
                        "x": -869.3999633789062,
                        "y": 6493.45068359375,
                        "z": 361.5554504394531
                    },
                    "rotation": {
                        "roll": 0.004887912422418594,
                        "pitch": 1.3730796575546265,
                        "yaw": -179.34500122070312
                    }
                },
                "velocity": {
                    "x": -7.946427822113037,
                    "y": -0.08943412452936172,
                    "z": 0.18895171582698822
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.626204013824463,
                "transform": {
                    "location": {
                        "x": -865.91357421875,
                        "y": 6489.98974609375,
                        "z": 361.46185302734375
                    },
                    "rotation": {
                        "roll": 0.009339351207017899,
                        "pitch": 1.4013566970825195,
                        "yaw": -179.3245849609375
                    }
                },
                "velocity": {
                    "x": -6.623805999755859,
                    "y": -0.08124416321516037,
                    "z": 0.15866027772426605
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1241.495849609375,
                        "y": 6469.4306640625,
                        "z": 371.810302734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1212.916259765625,
                        "y": 6472.44873046875,
                        "z": 371.0903015136719
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1188.2584228515625,
                        "y": 6475.05322265625,
                        "z": 370.3913879394531
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.6092529296875,
                        "y": 6477.76123046875,
                        "z": 369.58514404296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1143.7935791015625,
                        "y": 6479.74658203125,
                        "z": 368.9371643066406
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1123.8314208984375,
                        "y": 6481.64599609375,
                        "z": 368.21484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1102.90478515625,
                        "y": 6483.2041015625,
                        "z": 367.4293212890625
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1071.8367919921875,
                        "y": 6484.69384765625,
                        "z": 366.24737548828125
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1048.8746337890625,
                        "y": 6485.16943359375,
                        "z": 365.3121337890625
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1028.8441162109375,
                        "y": 6485.322265625,
                        "z": 364.5841369628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1003.8780517578125,
                        "y": 6485.51220703125,
                        "z": 363.9757995605469
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.595511436462402,
                "transform": {
                    "location": {
                        "x": -972.8932495117188,
                        "y": 6485.748046875,
                        "z": 363.52056884765625
                    },
                    "rotation": {
                        "roll": -0.0009765620343387127,
                        "pitch": 0.9011068344116211,
                        "yaw": -179.5696563720703
                    }
                },
                "velocity": {
                    "x": -9.594066619873047,
                    "y": -0.07195897400379181,
                    "z": 0.15015366673469543
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.650071144104004,
                "transform": {
                    "location": {
                        "x": -934.692138671875,
                        "y": 6486.04443359375,
                        "z": 362.8985595703125
                    },
                    "rotation": {
                        "roll": -0.4561767876148224,
                        "pitch": 0.8631446361541748,
                        "yaw": -179.46461486816406
                    }
                },
                "velocity": {
                    "x": -9.648600578308105,
                    "y": -0.08379220962524414,
                    "z": 0.14616216719150543
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.706522941589355,
                "transform": {
                    "location": {
                        "x": -869.090576171875,
                        "y": 6466.51904296875,
                        "z": 361.84417724609375
                    },
                    "rotation": {
                        "roll": -0.1708068698644638,
                        "pitch": 1.2678264379501343,
                        "yaw": 160.06668090820312
                    }
                },
                "velocity": {
                    "x": -9.140291213989258,
                    "y": 3.260955810546875,
                    "z": 0.19448897242546082
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.786965370178223,
                "transform": {
                    "location": {
                        "x": -889.728271484375,
                        "y": 6472.43359375,
                        "z": 362.25714111328125
                    },
                    "rotation": {
                        "roll": -0.08764645457267761,
                        "pitch": 0.9827412366867065,
                        "yaw": 165.8932647705078
                    }
                },
                "velocity": {
                    "x": -9.491107940673828,
                    "y": 2.382516622543335,
                    "z": 0.16485725343227386
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.016243595629930496,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            42.10968302342855,
            3.5957228080994916
        ],
        "target_point_next": [
            64.56294006218702,
            7.818530214268062
        ]
    },
    "450": {
        "acceleration": [
            0.9745025634765625,
            -0.6558418273925781,
            0.00107496976852417
        ],
        "angular_velocity": [
            -0.3634185492992401,
            -0.21962210536003113,
            0.34079140424728394
        ],
        "forward_vector": [
            -0.9799709320068359,
            0.19872432947158813,
            0.012871147133409977
        ],
        "right_vector": [
            -0.19871552288532257,
            -0.9800552725791931,
            0.0019721724092960358
        ],
        "location": [
            -911.2874755859375,
            6477.1484375,
            362.5732421875
        ],
        "rotation": [
            -0.1130065843462944,
            0.7374827861785889,
            168.5366668701172
        ],
        "velocity": [
            -10.039932250976562,
            2.0051190853118896,
            0.13432319462299347
        ],
        "speed": 10.238200142138329,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.4462969792635803,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.724007606506348,
                "transform": {
                    "location": {
                        "x": -841.9719848632812,
                        "y": 6486.73974609375,
                        "z": 361.016357421875
                    },
                    "rotation": {
                        "roll": -0.0010070806602016091,
                        "pitch": 0.780820369720459,
                        "yaw": -179.56536865234375
                    }
                },
                "velocity": {
                    "x": -9.723235130310059,
                    "y": -0.06790893524885178,
                    "z": 0.1020827665925026
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33575,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.043425559997559,
                "transform": {
                    "location": {
                        "x": -898.670654296875,
                        "y": 6493.2099609375,
                        "z": 362.198974609375
                    },
                    "rotation": {
                        "roll": 0.0007345989579334855,
                        "pitch": 1.1668215990066528,
                        "yaw": -179.5631561279297
                    }
                },
                "velocity": {
                    "x": -8.041534423828125,
                    "y": -0.06149793043732643,
                    "z": 0.16320711374282837
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.262885093688965,
                "transform": {
                    "location": {
                        "x": -917.34130859375,
                        "y": 6486.17724609375,
                        "z": 362.5975036621094
                    },
                    "rotation": {
                        "roll": -1.1416929960250854,
                        "pitch": 1.144152283668518,
                        "yaw": -179.50448608398438
                    }
                },
                "velocity": {
                    "x": -9.258986473083496,
                    "y": -0.032454054802656174,
                    "z": 0.2667766213417053
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.617541313171387,
                "transform": {
                    "location": {
                        "x": -883.3379516601562,
                        "y": 6486.42626953125,
                        "z": 361.9051818847656
                    },
                    "rotation": {
                        "roll": -0.0004577636136673391,
                        "pitch": 1.261460781097412,
                        "yaw": -179.56626892089844
                    }
                },
                "velocity": {
                    "x": -9.614961624145508,
                    "y": -0.07450886815786362,
                    "z": 0.20988813042640686
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9945902824401855,
                "transform": {
                    "location": {
                        "x": -871.3844604492188,
                        "y": 6493.4296875,
                        "z": 361.60247802734375
                    },
                    "rotation": {
                        "roll": 0.0008671557297930121,
                        "pitch": 1.3443723917007446,
                        "yaw": -179.38912963867188
                    }
                },
                "velocity": {
                    "x": -7.992087364196777,
                    "y": -0.0756530910730362,
                    "z": 0.18517938256263733
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.6565022468566895,
                "transform": {
                    "location": {
                        "x": -867.7015991210938,
                        "y": 6489.9677734375,
                        "z": 361.5045471191406
                    },
                    "rotation": {
                        "roll": 0.005569541826844215,
                        "pitch": 1.4029207229614258,
                        "yaw": -179.40313720703125
                    }
                },
                "velocity": {
                    "x": -7.653846263885498,
                    "y": -0.08619187772274017,
                    "z": 0.1823142021894455
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1243.981201171875,
                        "y": 6469.16845703125,
                        "z": 371.8692932128906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1215.401611328125,
                        "y": 6472.18603515625,
                        "z": 371.1565856933594
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1190.7437744140625,
                        "y": 6474.79052734375,
                        "z": 370.4646301269531
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.093994140625,
                        "y": 6477.49853515625,
                        "z": 369.6667785644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1146.2781982421875,
                        "y": 6479.48486328125,
                        "z": 369.0256652832031
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1126.3204345703125,
                        "y": 6481.43115234375,
                        "z": 368.3050842285156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1105.3968505859375,
                        "y": 6483.0390625,
                        "z": 367.5237121582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1074.3336181640625,
                        "y": 6484.6103515625,
                        "z": 366.3447570800781
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1051.3721923828125,
                        "y": 6485.140625,
                        "z": 365.4149475097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1031.34228515625,
                        "y": 6485.3037109375,
                        "z": 364.6646728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1006.3773193359375,
                        "y": 6485.4931640625,
                        "z": 364.0230712890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.621429443359375,
                "transform": {
                    "location": {
                        "x": -975.2951049804688,
                        "y": 6485.73046875,
                        "z": 363.55816650390625
                    },
                    "rotation": {
                        "roll": -0.0010986330453306437,
                        "pitch": 0.901885449886322,
                        "yaw": -179.56979370117188
                    }
                },
                "velocity": {
                    "x": -9.619982719421387,
                    "y": -0.07225962728261948,
                    "z": 0.15040555596351624
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.651128768920898,
                "transform": {
                    "location": {
                        "x": -937.1049194335938,
                        "y": 6486.0244140625,
                        "z": 362.9351501464844
                    },
                    "rotation": {
                        "roll": -0.2317504733800888,
                        "pitch": 0.9126771688461304,
                        "yaw": -179.5111846923828
                    }
                },
                "velocity": {
                    "x": -9.649561882019043,
                    "y": -0.09123241901397705,
                    "z": 0.14809012413024902
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.244913101196289,
                "transform": {
                    "location": {
                        "x": -871.4962158203125,
                        "y": 6467.3486328125,
                        "z": 361.89678955078125
                    },
                    "rotation": {
                        "roll": -0.1608581691980362,
                        "pitch": 1.3237452507019043,
                        "yaw": 161.3713836669922
                    }
                },
                "velocity": {
                    "x": -9.72536563873291,
                    "y": 3.2138421535491943,
                    "z": 0.21617674827575684
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.106304168701172,
                "transform": {
                    "location": {
                        "x": -891.9653930664062,
                        "y": 6472.98095703125,
                        "z": 362.2960510253906
                    },
                    "rotation": {
                        "roll": -0.1248779296875,
                        "pitch": 0.7118490934371948,
                        "yaw": 166.40826416015625
                    }
                },
                "velocity": {
                    "x": -8.85659122467041,
                    "y": 2.1126608848571777,
                    "z": 0.14913137257099152
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0508960522711277,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            39.55309527537686,
            3.3131083648808186
        ],
        "target_point_next": [
            62.03470013908459,
            7.382297078895229
        ]
    },
    "455": {
        "acceleration": [
            3.770275115966797,
            -1.187124252319336,
            -0.05974292755126953
        ],
        "angular_velocity": [
            -0.21190059185028076,
            -0.860248327255249,
            4.668935298919678
        ],
        "forward_vector": [
            -0.9822110533714294,
            0.1875055879354477,
            0.010156933218240738
        ],
        "right_vector": [
            -0.18748807907104492,
            -0.9822633266448975,
            0.002658759942278266
        ],
        "location": [
            -913.7251586914062,
            6477.623046875,
            362.6063232421875
        ],
        "rotation": [
            -0.15234375,
            0.5819594264030457,
            169.1921844482422
        ],
        "velocity": [
            -9.377364158630371,
            1.761818766593933,
            0.12558354437351227
        ],
        "speed": 9.541434060448568,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.450090646382855,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.69736099243164,
                "transform": {
                    "location": {
                        "x": -844.3993530273438,
                        "y": 6486.72216796875,
                        "z": 361.04302978515625
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": 0.7747483253479004,
                        "yaw": -179.5637969970703
                    }
                },
                "velocity": {
                    "x": -9.696235656738281,
                    "y": -0.07199545949697495,
                    "z": 0.129037007689476
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.308740615844727,
                "transform": {
                    "location": {
                        "x": -919.6646728515625,
                        "y": 6486.16357421875,
                        "z": 362.6459045410156
                    },
                    "rotation": {
                        "roll": -1.09368896484375,
                        "pitch": 1.1479498147964478,
                        "yaw": -179.50155639648438
                    }
                },
                "velocity": {
                    "x": -9.306774139404297,
                    "y": -0.06581854075193405,
                    "z": 0.17964500188827515
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.59183120727539,
                "transform": {
                    "location": {
                        "x": -885.7383422851562,
                        "y": 6486.408203125,
                        "z": 361.957763671875
                    },
                    "rotation": {
                        "roll": -0.000427245773607865,
                        "pitch": 1.2631205320358276,
                        "yaw": -179.57510375976562
                    }
                },
                "velocity": {
                    "x": -9.589261054992676,
                    "y": -0.0733422189950943,
                    "z": 0.20955857634544373
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.051244735717773,
                "transform": {
                    "location": {
                        "x": -873.3943481445312,
                        "y": 6493.41064453125,
                        "z": 361.6492614746094
                    },
                    "rotation": {
                        "roll": 0.002132181776687503,
                        "pitch": 1.2989994287490845,
                        "yaw": -179.4725799560547
                    }
                },
                "velocity": {
                    "x": -8.04878044128418,
                    "y": -0.0725751742720604,
                    "z": 0.18551915884017944
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.661764144897461,
                "transform": {
                    "location": {
                        "x": -869.7025756835938,
                        "y": 6489.9453125,
                        "z": 361.5522155761719
                    },
                    "rotation": {
                        "roll": 0.004020361229777336,
                        "pitch": 1.4062061309814453,
                        "yaw": -179.4374542236328
                    }
                },
                "velocity": {
                    "x": -8.658788681030273,
                    "y": -0.09513532370328903,
                    "z": 0.20612086355686188
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1246.466552734375,
                        "y": 6468.90625,
                        "z": 371.9283447265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1217.886962890625,
                        "y": 6471.923828125,
                        "z": 371.2225646972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1193.2291259765625,
                        "y": 6474.52783203125,
                        "z": 370.5375671386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.5787353515625,
                        "y": 6477.236328125,
                        "z": 369.74822998046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1148.762939453125,
                        "y": 6479.2236328125,
                        "z": 369.1131286621094
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1128.8084716796875,
                        "y": 6481.2099609375,
                        "z": 368.3951416015625
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1107.888671875,
                        "y": 6482.8740234375,
                        "z": 367.61834716796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1076.8299560546875,
                        "y": 6484.52001953125,
                        "z": 366.4403381347656
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1053.8697509765625,
                        "y": 6485.111328125,
                        "z": 365.517578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1033.84033203125,
                        "y": 6485.2841796875,
                        "z": 364.7458801269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1008.8765258789062,
                        "y": 6485.47412109375,
                        "z": 364.0709533691406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.594797134399414,
                "transform": {
                    "location": {
                        "x": -977.6965942382812,
                        "y": 6485.71240234375,
                        "z": 363.5957336425781
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": 0.9009497165679932,
                        "yaw": -179.56459045410156
                    }
                },
                "velocity": {
                    "x": -9.593335151672363,
                    "y": -0.0731070339679718,
                    "z": 0.15066592395305634
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.652463912963867,
                "transform": {
                    "location": {
                        "x": -939.51708984375,
                        "y": 6486.00341796875,
                        "z": 362.9713134765625
                    },
                    "rotation": {
                        "roll": -0.1163329929113388,
                        "pitch": 0.8659791350364685,
                        "yaw": -179.5036163330078
                    }
                },
                "velocity": {
                    "x": -9.65105152130127,
                    "y": -0.08426970988512039,
                    "z": 0.1419723480939865
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.067082405090332,
                "transform": {
                    "location": {
                        "x": -873.7894287109375,
                        "y": 6468.072265625,
                        "z": 361.94744873046875
                    },
                    "rotation": {
                        "roll": -0.1347656100988388,
                        "pitch": 1.0931512117385864,
                        "yaw": 162.89822387695312
                    }
                },
                "velocity": {
                    "x": -8.667685508728027,
                    "y": 2.654614210128784,
                    "z": 0.19036082923412323
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.588996887207031,
                "transform": {
                    "location": {
                        "x": -894.2401123046875,
                        "y": 6473.5205078125,
                        "z": 362.33258056640625
                    },
                    "rotation": {
                        "roll": -0.0815429762005806,
                        "pitch": 0.9292335510253906,
                        "yaw": 166.73001098632812
                    }
                },
                "velocity": {
                    "x": -9.333536148071289,
                    "y": 2.1934123039245605,
                    "z": 0.15136870741844177
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07056358456611633,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            37.10497114202934,
            2.8694729970870956
        ],
        "target_point_next": [
            59.63165827480435,
            6.681194505830614
        ]
    },
    "460": {
        "acceleration": [
            4.211769104003906,
            -1.158456802368164,
            -0.03442913293838501
        ],
        "angular_velocity": [
            -0.18886281549930573,
            -0.4492705166339874,
            0.06225375458598137
        ],
        "forward_vector": [
            -0.9841894507408142,
            0.17697888612747192,
            0.007046044804155827
        ],
        "right_vector": [
            -0.1769629269838333,
            -0.9842134118080139,
            0.002833528909832239
        ],
        "location": [
            -915.933349609375,
            6478.02587890625,
            362.6366271972656
        ],
        "rotation": [
            -0.1623534858226776,
            0.4037119746208191,
            169.805908203125
        ],
        "velocity": [
            -8.336776733398438,
            1.4638679027557373,
            0.11280567198991776
        ],
        "speed": 8.464322509170595,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.4534385325238937,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.615513801574707,
                "transform": {
                    "location": {
                        "x": -846.8134765625,
                        "y": 6486.70361328125,
                        "z": 361.0765075683594
                    },
                    "rotation": {
                        "roll": 0.0010422294726595283,
                        "pitch": 0.8932998776435852,
                        "yaw": -179.56028747558594
                    }
                },
                "velocity": {
                    "x": -9.614136695861816,
                    "y": -0.07317881286144257,
                    "z": 0.14538021385669708
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": -858.2528076171875,
                        "y": 6493.61669921875,
                        "z": 361.3729248046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2281908988952637,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": -6.292969345622623e-08,
                    "y": -4.77005268617603e-10,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.286002159118652,
                "transform": {
                    "location": {
                        "x": -921.9878540039062,
                        "y": 6486.14697265625,
                        "z": 362.6902770996094
                    },
                    "rotation": {
                        "roll": -1.003448486328125,
                        "pitch": 1.0844495296478271,
                        "yaw": -179.45843505859375
                    }
                },
                "velocity": {
                    "x": -9.284080505371094,
                    "y": -0.07479999959468842,
                    "z": 0.17349156737327576
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.619497299194336,
                "transform": {
                    "location": {
                        "x": -888.1390991210938,
                        "y": 6486.390625,
                        "z": 362.00982666015625
                    },
                    "rotation": {
                        "roll": -0.00048828101716935635,
                        "pitch": 1.2395905256271362,
                        "yaw": -179.57223510742188
                    }
                },
                "velocity": {
                    "x": -9.617045402526855,
                    "y": -0.07171671837568283,
                    "z": 0.2049742490053177
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.002391815185547,
                "transform": {
                    "location": {
                        "x": -875.3995361328125,
                        "y": 6493.392578125,
                        "z": 361.6950988769531
                    },
                    "rotation": {
                        "roll": 0.0008475957438349724,
                        "pitch": 1.3054471015930176,
                        "yaw": -179.46388244628906
                    }
                },
                "velocity": {
                    "x": -8.000025749206543,
                    "y": -0.06932949274778366,
                    "z": 0.18182694911956787
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.247957229614258,
                "transform": {
                    "location": {
                        "x": -871.8267822265625,
                        "y": 6489.9228515625,
                        "z": 361.6025390625
                    },
                    "rotation": {
                        "roll": 0.0004099542275071144,
                        "pitch": 1.3372280597686768,
                        "yaw": -179.57997131347656
                    }
                },
                "velocity": {
                    "x": -8.245399475097656,
                    "y": -0.0761677548289299,
                    "z": 0.1907583326101303
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1220.372314453125,
                        "y": 6471.66162109375,
                        "z": 371.28741455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1195.7144775390625,
                        "y": 6474.265625,
                        "z": 370.6097717285156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.0633544921875,
                        "y": 6476.97412109375,
                        "z": 369.8282470703125
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.247314453125,
                        "y": 6478.9609375,
                        "z": 369.1996765136719
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1131.2960205078125,
                        "y": 6480.98291015625,
                        "z": 368.4852600097656
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1110.379638671875,
                        "y": 6482.697265625,
                        "z": 367.7127685546875
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1079.3262939453125,
                        "y": 6484.421875,
                        "z": 366.5353088378906
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1056.3673095703125,
                        "y": 6485.06982421875,
                        "z": 365.62042236328125
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1036.3385009765625,
                        "y": 6485.265625,
                        "z": 364.8330078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1011.375732421875,
                        "y": 6485.455078125,
                        "z": 364.1249084472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.620820045471191,
                "transform": {
                    "location": {
                        "x": -980.0983276367188,
                        "y": 6485.69384765625,
                        "z": 363.6332702636719
                    },
                    "rotation": {
                        "roll": 2.2108722987468354e-05,
                        "pitch": 0.9022952318191528,
                        "yaw": -179.56309509277344
                    }
                },
                "velocity": {
                    "x": -9.619364738464355,
                    "y": -0.07333998382091522,
                    "z": 0.15038102865219116
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.651384353637695,
                "transform": {
                    "location": {
                        "x": -941.929443359375,
                        "y": 6485.984375,
                        "z": 363.0071105957031
                    },
                    "rotation": {
                        "roll": -0.054351806640625,
                        "pitch": 0.8410558104515076,
                        "yaw": -179.55813598632812
                    }
                },
                "velocity": {
                    "x": -9.650094032287598,
                    "y": -0.07596530765295029,
                    "z": 0.1383277028799057
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.865117073059082,
                "transform": {
                    "location": {
                        "x": -875.90234375,
                        "y": 6468.70556640625,
                        "z": 361.9930114746094
                    },
                    "rotation": {
                        "roll": -0.09710691124200821,
                        "pitch": 1.0785619020462036,
                        "yaw": 163.532470703125
                    }
                },
                "velocity": {
                    "x": -8.507657051086426,
                    "y": 2.485765218734741,
                    "z": 0.17619217932224274
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.511322021484375,
                "transform": {
                    "location": {
                        "x": -896.6322631835938,
                        "y": 6474.06787109375,
                        "z": 362.3703918457031
                    },
                    "rotation": {
                        "roll": -0.12338253110647202,
                        "pitch": 0.9084902405738831,
                        "yaw": 167.2731170654297
                    }
                },
                "velocity": {
                    "x": -9.281783103942871,
                    "y": 2.071949005126953,
                    "z": 0.14411313831806183
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08722951263189316,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            34.888952078883094,
            2.477521212436985
        ],
        "target_point_next": [
            57.45517599124748,
            6.047730222450642
        ]
    },
    "465": {
        "acceleration": [
            2.199983596801758,
            -0.6965494155883789,
            -0.018130987882614136
        ],
        "angular_velocity": [
            0.20401285588741302,
            0.41108986735343933,
            5.180458068847656
        ],
        "forward_vector": [
            -0.9860737323760986,
            0.16616801917552948,
            0.006838625762611628
        ],
        "right_vector": [
            -0.16615426540374756,
            -0.9860965013504028,
            0.002536865184083581
        ],
        "location": [
            -917.8976440429688,
            6478.361328125,
            362.6632385253906
        ],
        "rotation": [
            -0.145355224609375,
            0.39182743430137634,
            170.43467712402344
        ],
        "velocity": [
            -7.519560813903809,
            1.232585072517395,
            0.10270804911851883
        ],
        "speed": 7.619912125148847,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.4563425321714836,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.583389282226562,
                "transform": {
                    "location": {
                        "x": -849.213134765625,
                        "y": 6486.68505859375,
                        "z": 361.11480712890625
                    },
                    "rotation": {
                        "roll": -0.0008239749586209655,
                        "pitch": 0.9331403970718384,
                        "yaw": -179.56056213378906
                    }
                },
                "velocity": {
                    "x": -9.581680297851562,
                    "y": -0.07208961993455887,
                    "z": 0.16599422693252563
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.23324136435985565,
                "transform": {
                    "location": {
                        "x": -858.2551879882812,
                        "y": 6493.61669921875,
                        "z": 361.2308044433594
                    },
                    "rotation": {
                        "roll": 0.001177366473712027,
                        "pitch": 1.2279927730560303,
                        "yaw": -179.5653839111328
                    }
                },
                "velocity": {
                    "x": 0.005008161533623934,
                    "y": 0.00012329532182775438,
                    "z": 0.23318755626678467
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -858.2262573242188,
                        "y": 6490.1171875,
                        "z": 361.6767578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2281908988952637,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.31684398651123,
                "transform": {
                    "location": {
                        "x": -924.3094482421875,
                        "y": 6486.126953125,
                        "z": 362.7296447753906
                    },
                    "rotation": {
                        "roll": -0.8404541015625,
                        "pitch": 0.9166113138198853,
                        "yaw": -179.37042236328125
                    }
                },
                "velocity": {
                    "x": -9.31400203704834,
                    "y": -0.06769676506519318,
                    "z": 0.21990758180618286
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.59231948852539,
                "transform": {
                    "location": {
                        "x": -890.5394897460938,
                        "y": 6486.37158203125,
                        "z": 362.0608825683594
                    },
                    "rotation": {
                        "roll": -6.103451960370876e-05,
                        "pitch": 1.2038754224777222,
                        "yaw": -179.56277465820312
                    }
                },
                "velocity": {
                    "x": -9.589951515197754,
                    "y": -0.07174163311719894,
                    "z": 0.20068837702274323
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.018232345581055,
                "transform": {
                    "location": {
                        "x": -877.4007568359375,
                        "y": 6493.37548828125,
                        "z": 361.7408752441406
                    },
                    "rotation": {
                        "roll": 0.0014259145827963948,
                        "pitch": 1.3043065071105957,
                        "yaw": -179.53134155273438
                    }
                },
                "velocity": {
                    "x": -8.015908241271973,
                    "y": -0.06483523547649384,
                    "z": 0.1818447858095169
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.005395889282227,
                "transform": {
                    "location": {
                        "x": -873.8524780273438,
                        "y": 6489.904296875,
                        "z": 361.64971923828125
                    },
                    "rotation": {
                        "roll": -0.0025939939077943563,
                        "pitch": 1.2966567277908325,
                        "yaw": -179.7279815673828
                    }
                },
                "velocity": {
                    "x": -8.003023147583008,
                    "y": -0.06725838035345078,
                    "z": 0.18291568756103516
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -831.7610473632812,
                        "y": 6486.81689453125,
                        "z": 361.01898193359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1222.857666015625,
                        "y": 6471.3984375,
                        "z": 371.3517761230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1198.1998291015625,
                        "y": 6474.0029296875,
                        "z": 370.6815490722656
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1172.548095703125,
                        "y": 6476.7119140625,
                        "z": 369.9080810546875
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.7320556640625,
                        "y": 6478.69873046875,
                        "z": 369.28546142578125
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1133.7830810546875,
                        "y": 6480.75,
                        "z": 368.57525634765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1112.87060546875,
                        "y": 6482.51904296875,
                        "z": 367.8074645996094
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1081.8226318359375,
                        "y": 6484.3193359375,
                        "z": 366.63006591796875
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1058.8648681640625,
                        "y": 6485.02783203125,
                        "z": 365.7231140136719
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1038.836669921875,
                        "y": 6485.24658203125,
                        "z": 364.9208068847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1013.875,
                        "y": 6485.43603515625,
                        "z": 364.1794738769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.595258712768555,
                "transform": {
                    "location": {
                        "x": -982.4998779296875,
                        "y": 6485.6748046875,
                        "z": 363.6709289550781
                    },
                    "rotation": {
                        "roll": 0.0013684990117326379,
                        "pitch": 0.9010385274887085,
                        "yaw": -179.56297302246094
                    }
                },
                "velocity": {
                    "x": -9.593810081481934,
                    "y": -0.07325579226016998,
                    "z": 0.14977940917015076
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.6505708694458,
                "transform": {
                    "location": {
                        "x": -944.3423461914062,
                        "y": 6485.96630859375,
                        "z": 363.04254150390625
                    },
                    "rotation": {
                        "roll": -0.007232665549963713,
                        "pitch": 0.8931154608726501,
                        "yaw": -179.54620361328125
                    }
                },
                "velocity": {
                    "x": -9.649149894714355,
                    "y": -0.07622949779033661,
                    "z": 0.14701542258262634
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.782845497131348,
                "transform": {
                    "location": {
                        "x": -878.1376342773438,
                        "y": 6469.34619140625,
                        "z": 362.038818359375
                    },
                    "rotation": {
                        "roll": -0.05804441124200821,
                        "pitch": 1.2341878414154053,
                        "yaw": 164.11056518554688
                    }
                },
                "velocity": {
                    "x": -9.4099702835083,
                    "y": 2.668278217315674,
                    "z": 0.1918884962797165
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33545,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.629630088806152,
                "transform": {
                    "location": {
                        "x": -898.8115234375,
                        "y": 6474.55126953125,
                        "z": 362.40447998046875
                    },
                    "rotation": {
                        "roll": -0.07907102257013321,
                        "pitch": 0.5828063488006592,
                        "yaw": 167.5655975341797
                    }
                },
                "velocity": {
                    "x": -8.427913665771484,
                    "y": 1.8506934642791748,
                    "z": 0.12538516521453857
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09846460819244385,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            32.92131222281377,
            2.098886434191296
        ],
        "target_point_next": [
            55.52535579449992,
            5.421245272044729
        ]
    },
    "470": {
        "acceleration": [
            0.1407623291015625,
            -0.18875598907470703,
            0.007228851318359375
        ],
        "angular_velocity": [
            0.2159874588251114,
            0.7745415568351746,
            -1.383754849433899
        ],
        "forward_vector": [
            -0.9873375296592712,
            0.15832777321338654,
            0.009844382293522358
        ],
        "right_vector": [
            -0.15831685066223145,
            -0.9873865246772766,
            0.0018838279647752643
        ],
        "location": [
            -919.7388916015625,
            6478.6572265625,
            362.6877136230469
        ],
        "rotation": [
            -0.1079406887292862,
            0.5640506744384766,
            170.88970947265625
        ],
        "velocity": [
            -7.293135166168213,
            1.1425037384033203,
            0.09954986721277237
        ],
        "speed": 7.382082046703695,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.4589991984899267,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.495196342468262,
                "transform": {
                    "location": {
                        "x": -851.5977783203125,
                        "y": 6486.66650390625,
                        "z": 361.15533447265625
                    },
                    "rotation": {
                        "roll": 0.0004020046326331794,
                        "pitch": 1.042245864868164,
                        "yaw": -179.56427001953125
                    }
                },
                "velocity": {
                    "x": -9.493406295776367,
                    "y": -0.07223110646009445,
                    "z": 0.16962584853172302
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.09499567747116089,
                "transform": {
                    "location": {
                        "x": -858.2542114257812,
                        "y": 6493.61669921875,
                        "z": 361.27862548828125
                    },
                    "rotation": {
                        "roll": 0.001405782182700932,
                        "pitch": 1.2280337810516357,
                        "yaw": -179.56539916992188
                    }
                },
                "velocity": {
                    "x": 0.002063531195744872,
                    "y": 2.0591292923199944e-05,
                    "z": 0.09497325867414474
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2736676931381226,
                "transform": {
                    "location": {
                        "x": -858.2275390625,
                        "y": 6490.1171875,
                        "z": 361.2802734375
                    },
                    "rotation": {
                        "roll": 0.00022558291675522923,
                        "pitch": 1.21065092086792,
                        "yaw": -179.5655059814453
                    }
                },
                "velocity": {
                    "x": -0.02724742330610752,
                    "y": -0.0005867111030966043,
                    "z": -1.2733761072158813
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.272753715515137,
                "transform": {
                    "location": {
                        "x": -926.6365356445312,
                        "y": 6486.107421875,
                        "z": 362.76593017578125
                    },
                    "rotation": {
                        "roll": -0.4694213271141052,
                        "pitch": 1.2438524961471558,
                        "yaw": -179.40333557128906
                    }
                },
                "velocity": {
                    "x": -9.269556999206543,
                    "y": -0.08140651881694794,
                    "z": 0.22941820323467255
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.617815971374512,
                "transform": {
                    "location": {
                        "x": -892.9403686523438,
                        "y": 6486.353515625,
                        "z": 362.1112365722656
                    },
                    "rotation": {
                        "roll": -6.103502892074175e-05,
                        "pitch": 1.2077003717422485,
                        "yaw": -179.56800842285156
                    }
                },
                "velocity": {
                    "x": -9.615426063537598,
                    "y": -0.07258673012256622,
                    "z": 0.20170213282108307
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.022780418395996,
                "transform": {
                    "location": {
                        "x": -879.4059448242188,
                        "y": 6493.359375,
                        "z": 361.78643798828125
                    },
                    "rotation": {
                        "roll": 0.0010247547179460526,
                        "pitch": 1.2941910028457642,
                        "yaw": -179.5030975341797
                    }
                },
                "velocity": {
                    "x": -8.020502090454102,
                    "y": -0.0668620690703392,
                    "z": 0.17913056910037994
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.863821029663086,
                "transform": {
                    "location": {
                        "x": -875.8294067382812,
                        "y": 6489.88720703125,
                        "z": 361.6946716308594
                    },
                    "rotation": {
                        "roll": -0.005676268134266138,
                        "pitch": 1.3076395988464355,
                        "yaw": -179.83639526367188
                    }
                },
                "velocity": {
                    "x": -7.861522674560547,
                    "y": -0.060319311916828156,
                    "z": 0.18028290569782257
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -834.146728515625,
                        "y": 6486.79931640625,
                        "z": 360.9456481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1225.343017578125,
                        "y": 6471.13623046875,
                        "z": 371.4150695800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1200.6851806640625,
                        "y": 6473.74072265625,
                        "z": 370.7522888183594
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1175.0328369140625,
                        "y": 6476.44970703125,
                        "z": 369.98638916015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.216796875,
                        "y": 6478.43603515625,
                        "z": 369.3703918457031
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1136.2696533203125,
                        "y": 6480.509765625,
                        "z": 368.6653747558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1115.36083984375,
                        "y": 6482.330078125,
                        "z": 367.9013671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1084.318603515625,
                        "y": 6484.21044921875,
                        "z": 366.724609375
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1061.3624267578125,
                        "y": 6484.97412109375,
                        "z": 365.825927734375
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1041.3348388671875,
                        "y": 6485.2275390625,
                        "z": 365.0146484375
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1016.3739624023438,
                        "y": 6485.41650390625,
                        "z": 364.2400207519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.620823860168457,
                "transform": {
                    "location": {
                        "x": -984.9016723632812,
                        "y": 6485.65673828125,
                        "z": 363.70849609375
                    },
                    "rotation": {
                        "roll": 0.0002697606396395713,
                        "pitch": 0.9020357131958008,
                        "yaw": -179.56642150878906
                    }
                },
                "velocity": {
                    "x": -9.619370460510254,
                    "y": -0.07268553227186203,
                    "z": 0.15061919391155243
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.651285171508789,
                "transform": {
                    "location": {
                        "x": -946.7547607421875,
                        "y": 6485.947265625,
                        "z": 363.0790100097656
                    },
                    "rotation": {
                        "roll": 0.04003957286477089,
                        "pitch": 0.8909571766853333,
                        "yaw": -179.5569305419922
                    }
                },
                "velocity": {
                    "x": -9.649837493896484,
                    "y": -0.0769088864326477,
                    "z": 0.14840194582939148
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.112611770629883,
                "transform": {
                    "location": {
                        "x": -880.5704345703125,
                        "y": 6470.03173828125,
                        "z": 362.0884704589844
                    },
                    "rotation": {
                        "roll": -0.029357878491282463,
                        "pitch": 1.1961300373077393,
                        "yaw": 164.34239196777344
                    }
                },
                "velocity": {
                    "x": -9.7350492477417,
                    "y": 2.7302205562591553,
                    "z": 0.1990911066532135
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10698946565389633,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            31.072070508851976,
            1.8380028475320263
        ],
        "target_point_next": [
            53.70178623070468,
            4.980743750992224
        ]
    },
    "475": {
        "acceleration": [
            -1.1924076080322266,
            0.006957054138183594,
            0.024325251579284668
        ],
        "angular_velocity": [
            0.20318971574306488,
            0.6706593036651611,
            4.116718292236328
        ],
        "forward_vector": [
            -0.9883122444152832,
            0.15186761319637299,
            0.013234466314315796
        ],
        "right_vector": [
            -0.15186059474945068,
            -0.9884006977081299,
            0.0015386389568448067
        ],
        "location": [
            -921.5811767578125,
            6478.94189453125,
            362.7123107910156
        ],
        "rotation": [
            -0.0881652683019638,
            0.7583011984825134,
            171.26405334472656
        ],
        "velocity": [
            -7.476243019104004,
            1.1266498565673828,
            0.1018972396850586
        ],
        "speed": 7.560658012369337,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.461668912424283,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.437240600585938,
                "transform": {
                    "location": {
                        "x": -853.9157104492188,
                        "y": 6486.6494140625,
                        "z": 361.19873046875
                    },
                    "rotation": {
                        "roll": 0.0007910403073765337,
                        "pitch": 1.0583581924438477,
                        "yaw": -179.56907653808594
                    }
                },
                "velocity": {
                    "x": -8.435344696044922,
                    "y": -0.06249489635229111,
                    "z": 0.1675814837217331
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0758428573608398,
                "transform": {
                    "location": {
                        "x": -858.3709716796875,
                        "y": 6493.6142578125,
                        "z": 361.28900146484375
                    },
                    "rotation": {
                        "roll": -0.001495360629633069,
                        "pitch": 1.2646845579147339,
                        "yaw": -179.52919006347656
                    }
                },
                "velocity": {
                    "x": -1.0752462148666382,
                    "y": -0.024601727724075317,
                    "z": 0.026043014600872993
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.15568934381008148,
                "transform": {
                    "location": {
                        "x": -858.2280883789062,
                        "y": 6490.1171875,
                        "z": 361.2529296875
                    },
                    "rotation": {
                        "roll": -9.155218140222132e-05,
                        "pitch": 1.2093054056167603,
                        "yaw": -179.5653839111328
                    }
                },
                "velocity": {
                    "x": 0.0033845137804746628,
                    "y": -0.00019472825806587934,
                    "z": 0.15565243363380432
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.293472290039062,
                "transform": {
                    "location": {
                        "x": -928.952392578125,
                        "y": 6486.08837890625,
                        "z": 362.8121643066406
                    },
                    "rotation": {
                        "roll": -0.6985472440719604,
                        "pitch": 0.9134011268615723,
                        "yaw": -179.4707794189453
                    }
                },
                "velocity": {
                    "x": -9.291908264160156,
                    "y": -0.07297244668006897,
                    "z": 0.15406419336795807
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.593847274780273,
                "transform": {
                    "location": {
                        "x": -895.341064453125,
                        "y": 6486.3359375,
                        "z": 362.1614685058594
                    },
                    "rotation": {
                        "roll": 0.0003039915463887155,
                        "pitch": 1.205883502960205,
                        "yaw": -179.56956481933594
                    }
                },
                "velocity": {
                    "x": -9.591509819030762,
                    "y": -0.07182499766349792,
                    "z": 0.19919520616531372
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.014863014221191,
                "transform": {
                    "location": {
                        "x": -881.4097290039062,
                        "y": 6493.34228515625,
                        "z": 361.8311767578125
                    },
                    "rotation": {
                        "roll": -0.0007629395113326609,
                        "pitch": 1.2544597387313843,
                        "yaw": -179.55442810058594
                    }
                },
                "velocity": {
                    "x": -8.012660026550293,
                    "y": -0.06153561547398567,
                    "z": 0.17755027115345
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.01103687286377,
                "transform": {
                    "location": {
                        "x": -877.8136596679688,
                        "y": 6489.87255859375,
                        "z": 361.7400207519531
                    },
                    "rotation": {
                        "roll": -0.006683348678052425,
                        "pitch": 1.3158632516860962,
                        "yaw": -179.8628387451172
                    }
                },
                "velocity": {
                    "x": -8.008718490600586,
                    "y": -0.058739714324474335,
                    "z": 0.1835465431213379
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -836.4937133789062,
                        "y": 6486.7802734375,
                        "z": 360.96380615234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1227.828369140625,
                        "y": 6470.873046875,
                        "z": 371.47796630859375
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1203.1705322265625,
                        "y": 6473.47802734375,
                        "z": 370.82257080078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1177.5177001953125,
                        "y": 6476.1865234375,
                        "z": 370.06451416015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.7015380859375,
                        "y": 6478.173828125,
                        "z": 369.4544372558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1138.755615234375,
                        "y": 6480.26318359375,
                        "z": 368.75537109375
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1117.85107421875,
                        "y": 6482.13916015625,
                        "z": 367.9953308105469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1086.8143310546875,
                        "y": 6484.0947265625,
                        "z": 366.8192443847656
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1063.85986328125,
                        "y": 6484.92041015625,
                        "z": 365.9285583496094
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1043.8328857421875,
                        "y": 6485.20849609375,
                        "z": 365.1091613769531
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1018.8728637695312,
                        "y": 6485.3984375,
                        "z": 364.3012390136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.595293045043945,
                "transform": {
                    "location": {
                        "x": -987.3033447265625,
                        "y": 6485.63818359375,
                        "z": 363.7461242675781
                    },
                    "rotation": {
                        "roll": 0.000595375953707844,
                        "pitch": 0.9007584452629089,
                        "yaw": -179.5673370361328
                    }
                },
                "velocity": {
                    "x": -9.593849182128906,
                    "y": -0.0725226029753685,
                    "z": 0.14986278116703033
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.651122093200684,
                "transform": {
                    "location": {
                        "x": -949.1671752929688,
                        "y": 6485.92822265625,
                        "z": 363.1155090332031
                    },
                    "rotation": {
                        "roll": 0.061755504459142685,
                        "pitch": 0.8767776489257812,
                        "yaw": -179.53395080566406
                    }
                },
                "velocity": {
                    "x": -9.649704933166504,
                    "y": -0.07728330790996552,
                    "z": 0.1462366282939911
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.630388259887695,
                "transform": {
                    "location": {
                        "x": -883.0513305664062,
                        "y": 6470.70849609375,
                        "z": 362.1380310058594
                    },
                    "rotation": {
                        "roll": -0.0380554124712944,
                        "pitch": 1.15824294090271,
                        "yaw": 164.8875274658203
                    }
                },
                "velocity": {
                    "x": -10.262796401977539,
                    "y": 2.763918399810791,
                    "z": 0.20230287313461304
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1129908412694931,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            29.219267968740347,
            1.636510164626598
        ],
        "target_point_next": [
            51.869034018449035,
            4.631331015965188
        ]
    },
    "480": {
        "acceleration": [
            -1.6774559020996094,
            0.046753883361816406,
            0.021695345640182495
        ],
        "angular_velocity": [
            0.03689553216099739,
            0.4073762595653534,
            -1.1809464693069458
        ],
        "forward_vector": [
            -0.9891128540039062,
            0.14632324874401093,
            0.015659643337130547
        ],
        "right_vector": [
            -0.1463196575641632,
            -0.9892363548278809,
            0.001380945323035121
        ],
        "location": [
            -923.498779296875,
            6479.22607421875,
            362.73828125
        ],
        "rotation": [
            -0.0791320726275444,
            0.8972682356834412,
            171.58505249023438
        ],
        "velocity": [
            -7.858662128448486,
            1.135852336883545,
            0.10794889181852341
        ],
        "speed": 7.940323103017553,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.464296811043715,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.940085411071777,
                "transform": {
                    "location": {
                        "x": -855.9174194335938,
                        "y": 6486.63427734375,
                        "z": 361.2376403808594
                    },
                    "rotation": {
                        "roll": -0.00018310533778276294,
                        "pitch": 1.16111159324646,
                        "yaw": -179.5521240234375
                    }
                },
                "velocity": {
                    "x": -7.938228607177734,
                    "y": -0.058989644050598145,
                    "z": 0.16126762330532074
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.6836867332458496,
                "transform": {
                    "location": {
                        "x": -858.7244262695312,
                        "y": 6493.607421875,
                        "z": 361.2960205078125
                    },
                    "rotation": {
                        "roll": 0.002394584007561207,
                        "pitch": 1.276644229888916,
                        "yaw": -179.40383911132812
                    }
                },
                "velocity": {
                    "x": -1.6828675270080566,
                    "y": -0.039281606674194336,
                    "z": 0.03485800698399544
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2949055433273315,
                "transform": {
                    "location": {
                        "x": -858.3839111328125,
                        "y": 6490.1142578125,
                        "z": 361.2795715332031
                    },
                    "rotation": {
                        "roll": -0.0014953605132177472,
                        "pitch": 1.2915955781936646,
                        "yaw": -179.48309326171875
                    }
                },
                "velocity": {
                    "x": -1.2924262285232544,
                    "y": -0.03326111286878586,
                    "z": 0.0728587731719017
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.302668571472168,
                "transform": {
                    "location": {
                        "x": -931.2778930664062,
                        "y": 6486.0703125,
                        "z": 362.84918212890625
                    },
                    "rotation": {
                        "roll": -0.6018675565719604,
                        "pitch": 0.9217134714126587,
                        "yaw": -179.49990844726562
                    }
                },
                "velocity": {
                    "x": -9.301230430603027,
                    "y": -0.07454933226108551,
                    "z": 0.14557301998138428
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.618406295776367,
                "transform": {
                    "location": {
                        "x": -897.7418823242188,
                        "y": 6486.31787109375,
                        "z": 362.2110900878906
                    },
                    "rotation": {
                        "roll": -3.051796375075355e-05,
                        "pitch": 1.1730029582977295,
                        "yaw": -179.56674194335938
                    }
                },
                "velocity": {
                    "x": -9.616105079650879,
                    "y": -0.07277858257293701,
                    "z": 0.19739416241645813
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.019185066223145,
                "transform": {
                    "location": {
                        "x": -883.4133911132812,
                        "y": 6493.3271484375,
                        "z": 361.87518310546875
                    },
                    "rotation": {
                        "roll": 0.00025171617744490504,
                        "pitch": 1.248292088508606,
                        "yaw": -179.53199768066406
                    }
                },
                "velocity": {
                    "x": -8.016958236694336,
                    "y": -0.06432592868804932,
                    "z": 0.17768405377864838
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.968398571014404,
                "transform": {
                    "location": {
                        "x": -879.81201171875,
                        "y": 6489.857421875,
                        "z": 361.7852783203125
                    },
                    "rotation": {
                        "roll": -0.00726318359375,
                        "pitch": 1.290195345878601,
                        "yaw": -179.8673095703125
                    }
                },
                "velocity": {
                    "x": -7.966208457946777,
                    "y": -0.05881635099649429,
                    "z": 0.17731131613254547
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -838.5118408203125,
                        "y": 6486.765625,
                        "z": 360.9792175292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1230.313720703125,
                        "y": 6470.6103515625,
                        "z": 371.5398254394531
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1205.6558837890625,
                        "y": 6473.21533203125,
                        "z": 370.8917541503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1180.0028076171875,
                        "y": 6475.92431640625,
                        "z": 370.1412353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.1861572265625,
                        "y": 6477.91162109375,
                        "z": 369.5377197265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.2410888671875,
                        "y": 6480.01123046875,
                        "z": 368.8454895019531
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1120.3404541015625,
                        "y": 6481.9375,
                        "z": 368.08709716796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1089.3094482421875,
                        "y": 6483.97412109375,
                        "z": 366.9136962890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1066.3568115234375,
                        "y": 6484.853515625,
                        "z": 366.02947998046875
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1046.3304443359375,
                        "y": 6485.189453125,
                        "z": 365.2095642089844
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1021.3717651367188,
                        "y": 6485.37939453125,
                        "z": 364.3684997558594
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.620306015014648,
                "transform": {
                    "location": {
                        "x": -989.705078125,
                        "y": 6485.61962890625,
                        "z": 363.78369140625
                    },
                    "rotation": {
                        "roll": -0.00036621085018850863,
                        "pitch": 0.901755690574646,
                        "yaw": -179.5673370361328
                    }
                },
                "velocity": {
                    "x": -9.61884593963623,
                    "y": -0.07262258231639862,
                    "z": 0.15107491612434387
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.651018142700195,
                "transform": {
                    "location": {
                        "x": -951.5796508789062,
                        "y": 6485.9091796875,
                        "z": 363.15185546875
                    },
                    "rotation": {
                        "roll": 0.05815591663122177,
                        "pitch": 0.8855544924736023,
                        "yaw": -179.5672149658203
                    }
                },
                "velocity": {
                    "x": -9.649614334106445,
                    "y": -0.07538798451423645,
                    "z": 0.14635317027568817
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.378532409667969,
                "transform": {
                    "location": {
                        "x": -885.6968383789062,
                        "y": 6471.4130859375,
                        "z": 362.1883239746094
                    },
                    "rotation": {
                        "roll": -0.044708251953125,
                        "pitch": 1.1308948993682861,
                        "yaw": 165.2253875732422
                    }
                },
                "velocity": {
                    "x": -11.008310317993164,
                    "y": 2.8716633319854736,
                    "z": 0.20409250259399414
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1225610226392746,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            27.289432534190567,
            1.4732852964578917
        ],
        "target_point_next": [
            49.955621113217816,
            4.341167675169379
        ]
    },
    "485": {
        "acceleration": [
            -1.7711830139160156,
            0.039153099060058594,
            0.028129518032073975
        ],
        "angular_velocity": [
            0.0010106278350576758,
            0.2116290032863617,
            3.9479570388793945
        ],
        "forward_vector": [
            -0.9900638461112976,
            0.13959366083145142,
            0.01694788783788681
        ],
        "right_vector": [
            -0.1395893543958664,
            -0.9902084469795227,
            0.0014432256575673819
        ],
        "location": [
            -925.52099609375,
            6479.51318359375,
            362.76617431640625
        ],
        "rotation": [
            -0.0827026441693306,
            0.9710889458656311,
            171.97450256347656
        ],
        "velocity": [
            -8.29986572265625,
            1.1479243040084839,
            0.11561992019414902
        ],
        "speed": 8.378872312063093,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.466988467244246,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.638509750366211,
                "transform": {
                    "location": {
                        "x": -857.9805297851562,
                        "y": 6486.619140625,
                        "z": 361.2803955078125
                    },
                    "rotation": {
                        "roll": 0.00031819933792576194,
                        "pitch": 1.2221120595932007,
                        "yaw": -179.53890991210938
                    }
                },
                "velocity": {
                    "x": -8.636162757873535,
                    "y": -0.06508750468492508,
                    "z": 0.19054463505744934
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1701767444610596,
                "transform": {
                    "location": {
                        "x": -859.20654296875,
                        "y": 6493.59814453125,
                        "z": 361.30621337890625
                    },
                    "rotation": {
                        "roll": 0.007166729774326086,
                        "pitch": 1.2926268577575684,
                        "yaw": -179.23162841796875
                    }
                },
                "velocity": {
                    "x": -2.1690738201141357,
                    "y": -0.050803642719984055,
                    "z": 0.04695773869752884
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.1699929237365723,
                "transform": {
                    "location": {
                        "x": -858.7667846679688,
                        "y": 6490.10546875,
                        "z": 361.2922668457031
                    },
                    "rotation": {
                        "roll": 0.0015625598607584834,
                        "pitch": 1.3140395879745483,
                        "yaw": -179.39193725585938
                    }
                },
                "velocity": {
                    "x": -2.1685380935668945,
                    "y": -0.05808430537581444,
                    "z": 0.054202452301979065
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.286456108093262,
                "transform": {
                    "location": {
                        "x": -933.6001586914062,
                        "y": 6486.0517578125,
                        "z": 362.88494873046875
                    },
                    "rotation": {
                        "roll": -0.499114990234375,
                        "pitch": 0.8760809898376465,
                        "yaw": -179.485595703125
                    }
                },
                "velocity": {
                    "x": -9.285022735595703,
                    "y": -0.0790819376707077,
                    "z": 0.14269712567329407
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.593053817749023,
                "transform": {
                    "location": {
                        "x": -900.142578125,
                        "y": 6486.29931640625,
                        "z": 362.2596740722656
                    },
                    "rotation": {
                        "roll": -0.000274658523267135,
                        "pitch": 1.153700828552246,
                        "yaw": -179.55979919433594
                    }
                },
                "velocity": {
                    "x": -9.590842247009277,
                    "y": -0.07358011603355408,
                    "z": 0.19237159192562103
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.018616676330566,
                "transform": {
                    "location": {
                        "x": -885.4177856445312,
                        "y": 6493.31103515625,
                        "z": 361.91912841796875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": 1.2512154579162598,
                        "yaw": -179.5726776123047
                    }
                },
                "velocity": {
                    "x": -8.016434669494629,
                    "y": -0.06018252298235893,
                    "z": 0.17710351943969727
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.013853073120117,
                "transform": {
                    "location": {
                        "x": -881.809326171875,
                        "y": 6489.8427734375,
                        "z": 361.8299255371094
                    },
                    "rotation": {
                        "roll": -0.0067138648591935635,
                        "pitch": 1.2533669471740723,
                        "yaw": -179.84014892578125
                    }
                },
                "velocity": {
                    "x": -8.011693954467773,
                    "y": -0.05878647044301033,
                    "z": 0.17649120092391968
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -840.55419921875,
                        "y": 6486.75048828125,
                        "z": 361.0002746582031
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1232.79931640625,
                        "y": 6470.3486328125,
                        "z": 371.6012268066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1208.1412353515625,
                        "y": 6472.95361328125,
                        "z": 370.9605712890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1182.488037109375,
                        "y": 6475.66259765625,
                        "z": 370.2177734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.6708984375,
                        "y": 6477.6494140625,
                        "z": 369.6200256347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1143.72607421875,
                        "y": 6479.75341796875,
                        "z": 368.9347229003906
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1122.829833984375,
                        "y": 6481.73291015625,
                        "z": 368.178466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1091.8045654296875,
                        "y": 6483.84619140625,
                        "z": 367.0083923339844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1068.853759765625,
                        "y": 6484.78759765625,
                        "z": 366.1300048828125
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1048.8280029296875,
                        "y": 6485.17041015625,
                        "z": 365.3102722167969
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1023.8706665039062,
                        "y": 6485.3603515625,
                        "z": 364.4364013671875
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.596031188964844,
                "transform": {
                    "location": {
                        "x": -992.1066284179688,
                        "y": 6485.6015625,
                        "z": 363.8213195800781
                    },
                    "rotation": {
                        "roll": -0.0011596676195040345,
                        "pitch": 0.9008541107177734,
                        "yaw": -179.5697479248047
                    }
                },
                "velocity": {
                    "x": -9.594584465026855,
                    "y": -0.07361356914043427,
                    "z": 0.14949901401996613
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.650842666625977,
                "transform": {
                    "location": {
                        "x": -953.9921875,
                        "y": 6485.89111328125,
                        "z": 363.1885070800781
                    },
                    "rotation": {
                        "roll": 0.051502544432878494,
                        "pitch": 0.8948845267295837,
                        "yaw": -179.55104064941406
                    }
                },
                "velocity": {
                    "x": -9.64943790435791,
                    "y": -0.07441714406013489,
                    "z": 0.1469198316335678
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.568541526794434,
                "transform": {
                    "location": {
                        "x": -888.6152954101562,
                        "y": 6472.15869140625,
                        "z": 362.2411193847656
                    },
                    "rotation": {
                        "roll": -0.047088634222745895,
                        "pitch": 1.1558592319488525,
                        "yaw": 165.8575897216797
                    }
                },
                "velocity": {
                    "x": -12.184367179870605,
                    "y": 3.076359272003174,
                    "z": 0.21319425106048584
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1223016008734703,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            25.25632070727908,
            1.2897269019831246
        ],
        "target_point_next": [
            47.94147940604259,
            4.003475020372795
        ]
    },
    "490": {
        "acceleration": [
            -1.4816665649414062,
            -0.03906726837158203,
            0.03131598234176636
        ],
        "angular_velocity": [
            -0.01739603653550148,
            0.00845294538885355,
            -0.8063161373138428
        ],
        "forward_vector": [
            -0.9909074306488037,
            0.1334187388420105,
            0.017376501113176346
        ],
        "right_vector": [
            -0.13341234624385834,
            -0.991059422492981,
            0.0015316178323701024
        ],
        "location": [
            -927.6505126953125,
            6479.80126953125,
            362.7959289550781
        ],
        "rotation": [
            -0.08776852488517761,
            0.9956502914428711,
            172.33164978027344
        ],
        "velocity": [
            -8.706269264221191,
            1.1465660333633423,
            0.12228633463382721
        ],
        "speed": 8.78144282962573,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.469731480866749,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.719963073730469,
                "transform": {
                    "location": {
                        "x": -860.2274169921875,
                        "y": 6486.6015625,
                        "z": 361.3292541503906
                    },
                    "rotation": {
                        "roll": -0.0009155277512036264,
                        "pitch": 1.358688473701477,
                        "yaw": -179.59645080566406
                    }
                },
                "velocity": {
                    "x": -9.71728515625,
                    "y": -0.07274322211742401,
                    "z": 0.2162177860736847
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.7009024620056152,
                "transform": {
                    "location": {
                        "x": -859.818359375,
                        "y": 6493.5859375,
                        "z": 361.31939697265625
                    },
                    "rotation": {
                        "roll": 0.01301131583750248,
                        "pitch": 1.322406530380249,
                        "yaw": -179.09573364257812
                    }
                },
                "velocity": {
                    "x": -2.699852228164673,
                    "y": -0.04538414254784584,
                    "z": 0.060103483498096466
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.4305918216705322,
                "transform": {
                    "location": {
                        "x": -859.4676513671875,
                        "y": 6490.087890625,
                        "z": 361.30804443359375
                    },
                    "rotation": {
                        "roll": 0.0025821602903306484,
                        "pitch": 1.3712354898452759,
                        "yaw": -179.30105590820312
                    }
                },
                "velocity": {
                    "x": -3.428586006164551,
                    "y": -0.08845964819192886,
                    "z": 0.07703372836112976
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.297739028930664,
                "transform": {
                    "location": {
                        "x": -935.923095703125,
                        "y": 6486.03369140625,
                        "z": 362.9202575683594
                    },
                    "rotation": {
                        "roll": -0.3438720405101776,
                        "pitch": 0.871320366859436,
                        "yaw": -179.49691772460938
                    }
                },
                "velocity": {
                    "x": -9.296280860900879,
                    "y": -0.08347984403371811,
                    "z": 0.14198483526706696
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.61876106262207,
                "transform": {
                    "location": {
                        "x": -902.5435180664062,
                        "y": 6486.28125,
                        "z": 362.3076171875
                    },
                    "rotation": {
                        "roll": -0.00015258807979989797,
                        "pitch": 1.1484894752502441,
                        "yaw": -179.56800842285156
                    }
                },
                "velocity": {
                    "x": -9.616565704345703,
                    "y": -0.07250921428203583,
                    "z": 0.19227635860443115
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.019381523132324,
                "transform": {
                    "location": {
                        "x": -887.4217529296875,
                        "y": 6493.2958984375,
                        "z": 361.96295166015625
                    },
                    "rotation": {
                        "roll": 0.0004230602935422212,
                        "pitch": 1.2437363862991333,
                        "yaw": -179.54444885253906
                    }
                },
                "velocity": {
                    "x": -8.01729679107666,
                    "y": -0.0609358586370945,
                    "z": 0.17238856852054596
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.936100959777832,
                "transform": {
                    "location": {
                        "x": -883.8017578125,
                        "y": 6489.82861328125,
                        "z": 361.8735046386719
                    },
                    "rotation": {
                        "roll": -0.006103514693677425,
                        "pitch": 1.2568025588989258,
                        "yaw": -179.84210205078125
                    }
                },
                "velocity": {
                    "x": -7.933962821960449,
                    "y": -0.05981944128870964,
                    "z": 0.17422574758529663
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -842.7662963867188,
                        "y": 6486.73291015625,
                        "z": 361.0278015136719
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.28466796875,
                        "y": 6470.0859375,
                        "z": 371.66162109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1210.6265869140625,
                        "y": 6472.69091796875,
                        "z": 371.0283508300781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1184.973388671875,
                        "y": 6475.39990234375,
                        "z": 370.2927551269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.1556396484375,
                        "y": 6477.38720703125,
                        "z": 369.70166015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1146.2108154296875,
                        "y": 6479.4921875,
                        "z": 369.023193359375
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1125.318603515625,
                        "y": 6481.517578125,
                        "z": 368.2687072753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1094.29931640625,
                        "y": 6483.712890625,
                        "z": 367.10284423828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1071.3505859375,
                        "y": 6484.70947265625,
                        "z": 366.2282409667969
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1051.325439453125,
                        "y": 6485.1416015625,
                        "z": 365.4129943847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1026.3695068359375,
                        "y": 6485.34130859375,
                        "z": 364.5102233886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.620538711547852,
                "transform": {
                    "location": {
                        "x": -994.5084228515625,
                        "y": 6485.58349609375,
                        "z": 363.8588562011719
                    },
                    "rotation": {
                        "roll": 0.00010228792962152511,
                        "pitch": 0.9023430943489075,
                        "yaw": -179.5717010498047
                    }
                },
                "velocity": {
                    "x": -9.619094848632812,
                    "y": -0.07188117504119873,
                    "z": 0.15036366879940033
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.650932312011719,
                "transform": {
                    "location": {
                        "x": -956.4046630859375,
                        "y": 6485.87255859375,
                        "z": 363.2255859375
                    },
                    "rotation": {
                        "roll": 0.042592212557792664,
                        "pitch": 0.9040642976760864,
                        "yaw": -179.57498168945312
                    }
                },
                "velocity": {
                    "x": -9.649543762207031,
                    "y": -0.07260347902774811,
                    "z": 0.14669370651245117
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.47407054901123,
                "transform": {
                    "location": {
                        "x": -891.7807006835938,
                        "y": 6472.9404296875,
                        "z": 362.2956848144531
                    },
                    "rotation": {
                        "roll": -0.0660095140337944,
                        "pitch": 1.095446228981018,
                        "yaw": 166.42745971679688
                    }
                },
                "velocity": {
                    "x": -13.096198081970215,
                    "y": 3.1608049869537354,
                    "z": 0.22241955995559692
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1313992440700531,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            23.114954867229265,
            1.1336249277263706
        ],
        "target_point_next": [
            45.81658814132973,
            3.7059197643272106
        ]
    },
    "495": {
        "acceleration": [
            -1.0838699340820312,
            -0.26450634002685547,
            0.007419586181640625
        ],
        "angular_velocity": [
            -0.13294948637485504,
            -0.08789657801389694,
            4.862453460693359
        ],
        "forward_vector": [
            -0.9921965599060059,
            0.12350132316350937,
            0.017132753506302834
        ],
        "right_vector": [
            -0.12348268181085587,
            -0.9923443794250488,
            0.0021451259963214397
        ],
        "location": [
            -929.87060546875,
            6480.08251953125,
            362.82745361328125
        ],
        "rotation": [
            -0.1229247897863388,
            0.981682538986206,
            172.9047393798828
        ],
        "velocity": [
            -9.02468490600586,
            1.087457299232483,
            0.1273905485868454
        ],
        "speed": 9.089967053314549,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.47248721736504,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.981634140014648,
                "transform": {
                    "location": {
                        "x": -862.7300415039062,
                        "y": 6486.5830078125,
                        "z": 361.38720703125
                    },
                    "rotation": {
                        "roll": -0.0009765625,
                        "pitch": 1.3586338758468628,
                        "yaw": -179.59732055664062
                    }
                },
                "velocity": {
                    "x": -9.978550910949707,
                    "y": -0.07458045333623886,
                    "z": 0.23657682538032532
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -861.0809326171875,
                        "y": 6493.57666015625,
                        "z": 361.34967041015625
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.362606048583984,
                "transform": {
                    "location": {
                        "x": -860.4296875,
                        "y": 6490.07373046875,
                        "z": 361.32928466796875
                    },
                    "rotation": {
                        "roll": 0.011303026229143143,
                        "pitch": 1.4101334810256958,
                        "yaw": -179.16294860839844
                    }
                },
                "velocity": {
                    "x": -4.360950946807861,
                    "y": -0.06733492016792297,
                    "z": 0.09952863305807114
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.290976524353027,
                "transform": {
                    "location": {
                        "x": -938.2467651367188,
                        "y": 6486.013671875,
                        "z": 362.95556640625
                    },
                    "rotation": {
                        "roll": -0.1739501655101776,
                        "pitch": 0.909740149974823,
                        "yaw": -179.50718688964844
                    }
                },
                "velocity": {
                    "x": -9.289504051208496,
                    "y": -0.0826396718621254,
                    "z": 0.14332091808319092
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.570467948913574,
                "transform": {
                    "location": {
                        "x": -904.94482421875,
                        "y": 6486.26171875,
                        "z": 362.3664855957031
                    },
                    "rotation": {
                        "roll": -0.1648254543542862,
                        "pitch": 1.6292731761932373,
                        "yaw": -179.5669403076172
                    }
                },
                "velocity": {
                    "x": -9.564743995666504,
                    "y": -0.06253254413604736,
                    "z": 0.3249949514865875
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.019752502441406,
                "transform": {
                    "location": {
                        "x": -889.4259033203125,
                        "y": 6493.2802734375,
                        "z": 362.005859375
                    },
                    "rotation": {
                        "roll": -0.0007629385800100863,
                        "pitch": 1.2044081687927246,
                        "yaw": -179.57778930664062
                    }
                },
                "velocity": {
                    "x": -8.017733573913574,
                    "y": -0.05903874710202217,
                    "z": 0.16997846961021423
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.011175155639648,
                "transform": {
                    "location": {
                        "x": -885.7950439453125,
                        "y": 6489.8134765625,
                        "z": 361.9172058105469
                    },
                    "rotation": {
                        "roll": -0.005645752418786287,
                        "pitch": 1.2592682838439941,
                        "yaw": -179.82266235351562
                    }
                },
                "velocity": {
                    "x": -8.009032249450684,
                    "y": -0.06009509414434433,
                    "z": 0.1752675175666809
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -845.249755859375,
                        "y": 6486.71337890625,
                        "z": 361.0608215332031
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.770263671875,
                        "y": 6469.82373046875,
                        "z": 371.7215881347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1213.1119384765625,
                        "y": 6472.42822265625,
                        "z": 371.0957336425781
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1187.458740234375,
                        "y": 6475.13720703125,
                        "z": 370.3676452636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.640380859375,
                        "y": 6477.125,
                        "z": 369.78240966796875
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1148.6953125,
                        "y": 6479.23095703125,
                        "z": 369.1106872558594
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1127.807373046875,
                        "y": 6481.3017578125,
                        "z": 368.3588562011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1096.7938232421875,
                        "y": 6483.57275390625,
                        "z": 367.19757080078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1073.847412109375,
                        "y": 6484.6259765625,
                        "z": 366.32562255859375
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1053.822998046875,
                        "y": 6485.11181640625,
                        "z": 365.515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1028.8682861328125,
                        "y": 6485.322265625,
                        "z": 364.5848388671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.595497131347656,
                "transform": {
                    "location": {
                        "x": -996.909912109375,
                        "y": 6485.56591796875,
                        "z": 363.8965148925781
                    },
                    "rotation": {
                        "roll": 0.00016999119543470442,
                        "pitch": 0.901755690574646,
                        "yaw": -179.56838989257812
                    }
                },
                "velocity": {
                    "x": -9.59404468536377,
                    "y": -0.0722549557685852,
                    "z": 0.15052013099193573
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.650701522827148,
                "transform": {
                    "location": {
                        "x": -958.8170166015625,
                        "y": 6485.853515625,
                        "z": 363.2628173828125
                    },
                    "rotation": {
                        "roll": 0.03486357629299164,
                        "pitch": 0.9090776443481445,
                        "yaw": -179.55606079101562
                    }
                },
                "velocity": {
                    "x": -9.649246215820312,
                    "y": -0.0729980617761612,
                    "z": 0.1508578211069107
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.339629173278809,
                "transform": {
                    "location": {
                        "x": -895.1671752929688,
                        "y": 6473.74365234375,
                        "z": 362.35107421875
                    },
                    "rotation": {
                        "roll": -0.0501098670065403,
                        "pitch": 1.033229947090149,
                        "yaw": 166.8634796142578
                    }
                },
                "velocity": {
                    "x": -13.95915699005127,
                    "y": 3.2737832069396973,
                    "z": 0.22194495797157288
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.126909539103508,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            20.887305633548706,
            0.9072451111253723
        ],
        "target_point_next": [
            43.61353136483367,
            3.2523502364512957
        ]
    },
    "500": {
        "acceleration": [
            -0.21615982055664062,
            -0.2914714813232422,
            0.006916821002960205
        ],
        "angular_velocity": [
            -0.0023504653945565224,
            -0.28024399280548096,
            -0.16633901000022888
        ],
        "forward_vector": [
            -0.9934203624725342,
            0.11335580796003342,
            0.016321053728461266
        ],
        "right_vector": [
            -0.11333455890417099,
            -0.9935543537139893,
            0.0022239736281335354
        ],
        "location": [
            -932.1508178710938,
            6480.34716796875,
            362.8600769042969
        ],
        "rotation": [
            -0.1274413913488388,
            0.935168981552124,
            173.49032592773438
        ],
        "velocity": [
            -9.17508602142334,
            1.017049789428711,
            0.1310371607542038
        ],
        "speed": 9.231283430525517,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.475264937727203,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.638498306274414,
                "transform": {
                    "location": {
                        "x": -865.1786499023438,
                        "y": 6486.56494140625,
                        "z": 361.44525146484375
                    },
                    "rotation": {
                        "roll": -0.0014343262882903218,
                        "pitch": 1.3627114295959473,
                        "yaw": -179.59181213378906
                    }
                },
                "velocity": {
                    "x": -9.635509490966797,
                    "y": -0.07119355350732803,
                    "z": 0.22920267283916473
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -863.163330078125,
                        "y": 6493.57177734375,
                        "z": 361.4020080566406
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -862.5120849609375,
                        "y": 6490.0703125,
                        "z": 361.3841247558594
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.296469688415527,
                "transform": {
                    "location": {
                        "x": -940.5692138671875,
                        "y": 6485.994140625,
                        "z": 362.99041748046875
                    },
                    "rotation": {
                        "roll": -0.05667112395167351,
                        "pitch": 0.8140901923179626,
                        "yaw": -179.53883361816406
                    }
                },
                "velocity": {
                    "x": -9.295093536376953,
                    "y": -0.07734972983598709,
                    "z": 0.13999900221824646
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.628557205200195,
                "transform": {
                    "location": {
                        "x": -907.3460083007812,
                        "y": 6486.24609375,
                        "z": 362.4313049316406
                    },
                    "rotation": {
                        "roll": -0.9280396103858948,
                        "pitch": 1.7585891485214233,
                        "yaw": -179.60301208496094
                    }
                },
                "velocity": {
                    "x": -9.624826431274414,
                    "y": -0.05085638538002968,
                    "z": 0.26315590739250183
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.018880844116211,
                "transform": {
                    "location": {
                        "x": -891.4300537109375,
                        "y": 6493.265625,
                        "z": 362.04803466796875
                    },
                    "rotation": {
                        "roll": 0.001026664744131267,
                        "pitch": 1.1949893236160278,
                        "yaw": -179.54519653320312
                    }
                },
                "velocity": {
                    "x": -8.016852378845215,
                    "y": -0.06361996382474899,
                    "z": 0.16875043511390686
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.947227478027344,
                "transform": {
                    "location": {
                        "x": -887.7891235351562,
                        "y": 6489.798828125,
                        "z": 361.96044921875
                    },
                    "rotation": {
                        "roll": -0.005279541481286287,
                        "pitch": 1.2398158311843872,
                        "yaw": -179.83799743652344
                    }
                },
                "velocity": {
                    "x": -7.945197105407715,
                    "y": -0.05986764654517174,
                    "z": 0.16936711966991425
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -847.7088623046875,
                        "y": 6486.69482421875,
                        "z": 361.0982666015625
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1240.255615234375,
                        "y": 6469.56103515625,
                        "z": 371.78076171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1215.5972900390625,
                        "y": 6472.16552734375,
                        "z": 371.1619567871094
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1189.944091796875,
                        "y": 6474.875,
                        "z": 370.44091796875
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.1251220703125,
                        "y": 6476.8623046875,
                        "z": 369.8624267578125
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.1798095703125,
                        "y": 6478.96875,
                        "z": 369.197265625
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1130.294921875,
                        "y": 6481.07421875,
                        "z": 368.4489440917969
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1099.2877197265625,
                        "y": 6483.42529296875,
                        "z": 367.2919921875
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1076.34375,
                        "y": 6484.5361328125,
                        "z": 366.4215087890625
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1056.3199462890625,
                        "y": 6485.0703125,
                        "z": 365.61846923828125
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1031.3670654296875,
                        "y": 6485.3037109375,
                        "z": 364.6653747558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.619709014892578,
                "transform": {
                    "location": {
                        "x": -999.311767578125,
                        "y": 6485.54736328125,
                        "z": 363.9343566894531
                    },
                    "rotation": {
                        "roll": -0.00045776343904435635,
                        "pitch": 0.9143915176391602,
                        "yaw": -179.5679168701172
                    }
                },
                "velocity": {
                    "x": -9.618106842041016,
                    "y": -0.07246957719326019,
                    "z": 0.15991009771823883
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.651063919067383,
                "transform": {
                    "location": {
                        "x": -961.2291870117188,
                        "y": 6485.8349609375,
                        "z": 363.3000183105469
                    },
                    "rotation": {
                        "roll": 0.015654049813747406,
                        "pitch": 0.8946318030357361,
                        "yaw": -179.5750274658203
                    }
                },
                "velocity": {
                    "x": -9.649666786193848,
                    "y": -0.07155442237854004,
                    "z": 0.14781339466571808
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33547,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.737833976745605,
                "transform": {
                    "location": {
                        "x": -898.6370239257812,
                        "y": 6474.52783203125,
                        "z": 362.40435791015625
                    },
                    "rotation": {
                        "roll": -0.07153318077325821,
                        "pitch": 0.8025608658790588,
                        "yaw": 167.61817932128906
                    }
                },
                "velocity": {
                    "x": -13.41205883026123,
                    "y": 2.967118263244629,
                    "z": 0.20241107046604156
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1147344782948494,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            18.59997236820793,
            0.698154949675615
        ],
        "target_point_next": [
            41.348978922803546,
            2.810867617577867
        ]
    },
    "505": {
        "acceleration": [
            0.4693603515625,
            -0.44628262519836426,
            -0.005831718444824219
        ],
        "angular_velocity": [
            -0.07206433266401291,
            -0.2740795612335205,
            4.501408576965332
        ],
        "forward_vector": [
            -0.9944607019424438,
            0.10401222109794617,
            0.015145914629101753
        ],
        "right_vector": [
            -0.10399061441421509,
            -0.9945757985115051,
            0.0022091027349233627
        ],
        "location": [
            -934.442626953125,
            6480.59228515625,
            362.8932189941406
        ],
        "rotation": [
            -0.1265868842601776,
            0.8678301572799683,
            174.029052734375
        ],
        "velocity": [
            -9.137362480163574,
            0.9278725981712341,
            0.13103175163269043
        ],
        "speed": 9.18435303395607,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.477871475125773,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.523188591003418,
                "transform": {
                    "location": {
                        "x": -867.5664672851562,
                        "y": 6486.54736328125,
                        "z": 361.5022277832031
                    },
                    "rotation": {
                        "roll": -0.0005493158823810518,
                        "pitch": 1.3638452291488647,
                        "yaw": -179.55624389648438
                    }
                },
                "velocity": {
                    "x": -9.520184516906738,
                    "y": -0.07158209383487701,
                    "z": 0.22822675108909607
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -865.245849609375,
                        "y": 6493.56298828125,
                        "z": 361.4535217285156
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -864.594482421875,
                        "y": 6490.06689453125,
                        "z": 361.4381103515625
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.291356086730957,
                "transform": {
                    "location": {
                        "x": -942.8928833007812,
                        "y": 6485.97607421875,
                        "z": 363.0240478515625
                    },
                    "rotation": {
                        "roll": -0.07550046592950821,
                        "pitch": 0.8692508339881897,
                        "yaw": -179.55438232421875
                    }
                },
                "velocity": {
                    "x": -9.290087699890137,
                    "y": -0.0704646110534668,
                    "z": 0.13637687265872955
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.593889236450195,
                "transform": {
                    "location": {
                        "x": -909.7439575195312,
                        "y": 6486.23193359375,
                        "z": 362.494140625
                    },
                    "rotation": {
                        "roll": -1.389098882675171,
                        "pitch": 1.0795592069625854,
                        "yaw": -179.57533264160156
                    }
                },
                "velocity": {
                    "x": -9.591964721679688,
                    "y": -0.04905956983566284,
                    "z": 0.1857888400554657
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.019362449645996,
                "transform": {
                    "location": {
                        "x": -893.434326171875,
                        "y": 6493.25,
                        "z": 362.0900573730469
                    },
                    "rotation": {
                        "roll": -0.00039672860293649137,
                        "pitch": 1.1968334913253784,
                        "yaw": -179.58157348632812
                    }
                },
                "velocity": {
                    "x": -8.017364501953125,
                    "y": -0.057923369109630585,
                    "z": 0.1693819910287857
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.013833999633789,
                "transform": {
                    "location": {
                        "x": -889.7838745117188,
                        "y": 6489.78369140625,
                        "z": 362.0032043457031
                    },
                    "rotation": {
                        "roll": -0.006347655318677425,
                        "pitch": 1.2010750770568848,
                        "yaw": -179.81968688964844
                    }
                },
                "velocity": {
                    "x": -8.011805534362793,
                    "y": -0.06212938576936722,
                    "z": 0.16927163302898407
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -850.1005859375,
                        "y": 6486.67822265625,
                        "z": 361.1367492675781
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1242.740966796875,
                        "y": 6469.298828125,
                        "z": 371.8398742675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1218.0826416015625,
                        "y": 6471.90283203125,
                        "z": 371.2277526855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1192.429443359375,
                        "y": 6474.6123046875,
                        "z": 370.51416015625
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1173.6097412109375,
                        "y": 6476.60009765625,
                        "z": 369.94158935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.6644287109375,
                        "y": 6478.7060546875,
                        "z": 369.2831115722656
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1132.78271484375,
                        "y": 6480.84619140625,
                        "z": 368.5389709472656
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1101.781005859375,
                        "y": 6483.2734375,
                        "z": 367.3866271972656
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1078.8399658203125,
                        "y": 6484.4423828125,
                        "z": 366.51678466796875
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1058.81689453125,
                        "y": 6485.029296875,
                        "z": 365.7211608886719
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1033.8658447265625,
                        "y": 6485.2841796875,
                        "z": 364.7466735839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.594710350036621,
                "transform": {
                    "location": {
                        "x": -1001.7135009765625,
                        "y": 6485.52880859375,
                        "z": 363.97406005859375
                    },
                    "rotation": {
                        "roll": -9.155269071925431e-05,
                        "pitch": 0.9956912398338318,
                        "yaw": -179.5635528564453
                    }
                },
                "velocity": {
                    "x": -9.593040466308594,
                    "y": -0.07303138822317123,
                    "z": 0.1634368896484375
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.650729179382324,
                "transform": {
                    "location": {
                        "x": -963.6417846679688,
                        "y": 6485.81689453125,
                        "z": 363.3375244140625
                    },
                    "rotation": {
                        "roll": 0.01283854991197586,
                        "pitch": 0.9187423586845398,
                        "yaw": -179.55616760253906
                    }
                },
                "velocity": {
                    "x": -9.649319648742676,
                    "y": -0.0727074146270752,
                    "z": 0.14803586900234222
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -830.8027954101562,
                        "y": 6486.82421875,
                        "z": 361.04840087890625
                    },
                    "rotation": {
                        "roll": 1.0422199908655116e-10,
                        "pitch": 0.3164972960948944,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1069895476102829,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            16.300841028225136,
            0.5286205516300446
        ],
        "target_point_next": [
            39.06870697094142,
            2.427339712709128
        ]
    },
    "510": {
        "acceleration": [
            1.2448692321777344,
            -0.48202037811279297,
            -0.016920864582061768
        ],
        "angular_velocity": [
            -0.11729080229997635,
            -0.2952113449573517,
            -0.1035204753279686
        ],
        "forward_vector": [
            -0.99543696641922,
            0.09442882239818573,
            0.013727709650993347
        ],
        "right_vector": [
            -0.0944063812494278,
            -0.9955311417579651,
            0.002275188220664859
        ],
        "location": [
            -936.6964111328125,
            6480.81103515625,
            362.9261169433594
        ],
        "rotation": [
            -0.1303710788488388,
            0.7865645289421082,
            174.58103942871094
        ],
        "velocity": [
            -8.881948471069336,
            0.808785617351532,
            0.13013911247253418
        ],
        "speed": 8.918696250997991,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.4803134521163703,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.591107368469238,
                "transform": {
                    "location": {
                        "x": -869.9542846679688,
                        "y": 6486.529296875,
                        "z": 361.5592041015625
                    },
                    "rotation": {
                        "roll": -0.0014038083609193563,
                        "pitch": 1.3686946630477905,
                        "yaw": -179.5656280517578
                    }
                },
                "velocity": {
                    "x": -9.588123321533203,
                    "y": -0.07347340136766434,
                    "z": 0.2276579737663269
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -867.3286743164062,
                        "y": 6493.54736328125,
                        "z": 361.5032653808594
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -866.67724609375,
                        "y": 6490.05126953125,
                        "z": 361.4881286621094
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.295812606811523,
                "transform": {
                    "location": {
                        "x": -945.2159423828125,
                        "y": 6485.95849609375,
                        "z": 363.0592041015625
                    },
                    "rotation": {
                        "roll": -0.0026550290640443563,
                        "pitch": 0.8827131390571594,
                        "yaw": -179.55624389648438
                    }
                },
                "velocity": {
                    "x": -9.294466018676758,
                    "y": -0.07165788859128952,
                    "z": 0.14105552434921265
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.607918739318848,
                "transform": {
                    "location": {
                        "x": -912.1431884765625,
                        "y": 6486.2197265625,
                        "z": 362.537109375
                    },
                    "rotation": {
                        "roll": -0.9805908799171448,
                        "pitch": 1.0085798501968384,
                        "yaw": -179.50799560546875
                    }
                },
                "velocity": {
                    "x": -9.607001304626465,
                    "y": -0.09061003476381302,
                    "z": 0.09707658737897873
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.019515037536621,
                "transform": {
                    "location": {
                        "x": -895.4385986328125,
                        "y": 6493.23486328125,
                        "z": 362.13214111328125
                    },
                    "rotation": {
                        "roll": 0.0016093276208266616,
                        "pitch": 1.1948186159133911,
                        "yaw": -179.54293823242188
                    }
                },
                "velocity": {
                    "x": -8.01751708984375,
                    "y": -0.06369322538375854,
                    "z": 0.16726642847061157
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.944704055786133,
                "transform": {
                    "location": {
                        "x": -891.7778930664062,
                        "y": 6489.76806640625,
                        "z": 362.0450744628906
                    },
                    "rotation": {
                        "roll": -0.006195068359375,
                        "pitch": 1.202304482460022,
                        "yaw": -179.83209228515625
                    }
                },
                "velocity": {
                    "x": -7.9427337646484375,
                    "y": -0.0601627416908741,
                    "z": 0.16637305915355682
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -852.486572265625,
                        "y": 6486.65966796875,
                        "z": 361.1795654296875
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33559,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1245.226318359375,
                        "y": 6469.03662109375,
                        "z": 371.89886474609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1220.5679931640625,
                        "y": 6471.640625,
                        "z": 371.2925720214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1194.914794921875,
                        "y": 6474.3505859375,
                        "z": 370.58642578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1176.094482421875,
                        "y": 6476.33740234375,
                        "z": 370.0198669433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.1490478515625,
                        "y": 6478.44384765625,
                        "z": 369.3680725097656
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1135.2691650390625,
                        "y": 6480.60595703125,
                        "z": 368.6290588378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1104.27392578125,
                        "y": 6483.1142578125,
                        "z": 367.4810791015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1081.3363037109375,
                        "y": 6484.33935546875,
                        "z": 366.6116027832031
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1061.3138427734375,
                        "y": 6484.9755859375,
                        "z": 365.8239440917969
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1036.364013671875,
                        "y": 6485.2646484375,
                        "z": 364.8338928222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.620640754699707,
                "transform": {
                    "location": {
                        "x": -1004.1151123046875,
                        "y": 6485.51025390625,
                        "z": 364.01556396484375
                    },
                    "rotation": {
                        "roll": 0.0007586527499370277,
                        "pitch": 0.9965177178382874,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": -9.618948936462402,
                    "y": -0.07131066918373108,
                    "z": 0.16573487222194672
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.65075969696045,
                "transform": {
                    "location": {
                        "x": -966.0540161132812,
                        "y": 6485.7978515625,
                        "z": 363.3753356933594
                    },
                    "rotation": {
                        "roll": 0.012714458629488945,
                        "pitch": 0.9225262999534607,
                        "yaw": -179.57725524902344
                    }
                },
                "velocity": {
                    "x": -9.649304389953613,
                    "y": -0.07328257709741592,
                    "z": 0.15073376893997192
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -833.2073974609375,
                        "y": 6486.80615234375,
                        "z": 360.9745178222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09474166482686996,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            14.040807467096432,
            0.3764868899527747
        ],
        "target_point_next": [
            36.82590883770098,
            2.055775301579442
        ]
    },
    "515": {
        "acceleration": [
            1.7258453369140625,
            -0.347287654876709,
            -0.01787811517715454
        ],
        "angular_velocity": [
            0.19563515484333038,
            -0.23064909875392914,
            3.9321703910827637
        ],
        "forward_vector": [
            -0.9961966872215271,
            0.08622106164693832,
            0.01257338747382164
        ],
        "right_vector": [
            -0.08620627969503403,
            -0.996275782585144,
            0.001713873934932053
        ],
        "location": [
            -938.8676147460938,
            6481.0029296875,
            362.9581604003906
        ],
        "rotation": [
            -0.0982055515050888,
            0.7204210162162781,
            175.05335998535156
        ],
        "velocity": [
            -8.48735237121582,
            0.7183161973953247,
            0.12564896047115326
        ],
        "speed": 8.517695018760843,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.4825488075823245,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.625370979309082,
                "transform": {
                    "location": {
                        "x": -872.357177734375,
                        "y": 6486.51025390625,
                        "z": 361.6155090332031
                    },
                    "rotation": {
                        "roll": 0.0003956803702749312,
                        "pitch": 1.3287312984466553,
                        "yaw": -179.5419464111328
                    }
                },
                "velocity": {
                    "x": -9.622472763061523,
                    "y": -0.07498611509799957,
                    "z": 0.2239750474691391
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -869.411376953125,
                        "y": 6493.5322265625,
                        "z": 361.5530700683594
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -868.7600708007812,
                        "y": 6490.0361328125,
                        "z": 361.5381164550781
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.292468070983887,
                "transform": {
                    "location": {
                        "x": -947.5389404296875,
                        "y": 6485.94091796875,
                        "z": 363.094482421875
                    },
                    "rotation": {
                        "roll": 0.056159161031246185,
                        "pitch": 0.8632060885429382,
                        "yaw": -179.5485382080078
                    }
                },
                "velocity": {
                    "x": -9.291115760803223,
                    "y": -0.0744333267211914,
                    "z": 0.14000308513641357
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.531584739685059,
                "transform": {
                    "location": {
                        "x": -914.5439453125,
                        "y": 6486.19677734375,
                        "z": 362.5804138183594
                    },
                    "rotation": {
                        "roll": -1.206451416015625,
                        "pitch": 0.941876232624054,
                        "yaw": -179.4103240966797
                    }
                },
                "velocity": {
                    "x": -9.527260780334473,
                    "y": -0.03043009713292122,
                    "z": 0.2854495048522949
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33577,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.019845008850098,
                "transform": {
                    "location": {
                        "x": -897.44287109375,
                        "y": 6493.21923828125,
                        "z": 362.1734313964844
                    },
                    "rotation": {
                        "roll": -0.0005798334605060518,
                        "pitch": 1.1694717407226562,
                        "yaw": -179.58311462402344
                    }
                },
                "velocity": {
                    "x": -8.01794147491455,
                    "y": -0.05817316845059395,
                    "z": 0.16472846269607544
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.013522148132324,
                "transform": {
                    "location": {
                        "x": -893.7724609375,
                        "y": 6489.7529296875,
                        "z": 362.08685302734375
                    },
                    "rotation": {
                        "roll": -0.006103516090661287,
                        "pitch": 1.2055487632751465,
                        "yaw": -179.81915283203125
                    }
                },
                "velocity": {
                    "x": -8.011528015136719,
                    "y": -0.06202014908194542,
                    "z": 0.16766929626464844
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -854.8887939453125,
                        "y": 6486.6416015625,
                        "z": 361.2246398925781
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1223.0533447265625,
                        "y": 6471.3779296875,
                        "z": 371.35687255859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1197.400146484375,
                        "y": 6474.087890625,
                        "z": 370.6585998535156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1178.579345703125,
                        "y": 6476.07470703125,
                        "z": 370.0972900390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.633544921875,
                        "y": 6478.18115234375,
                        "z": 369.45208740234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1137.755615234375,
                        "y": 6480.36474609375,
                        "z": 368.7190856933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1106.7664794921875,
                        "y": 6482.94775390625,
                        "z": 367.5757751464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1083.8323974609375,
                        "y": 6484.232421875,
                        "z": 366.70611572265625
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1063.8106689453125,
                        "y": 6484.921875,
                        "z": 365.926513671875
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1038.8621826171875,
                        "y": 6485.24658203125,
                        "z": 364.9217224121094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.591062545776367,
                "transform": {
                    "location": {
                        "x": -1006.5166015625,
                        "y": 6485.4921875,
                        "z": 364.05975341796875
                    },
                    "rotation": {
                        "roll": 0.00034776938264258206,
                        "pitch": 1.1085054874420166,
                        "yaw": -179.5734100341797
                    }
                },
                "velocity": {
                    "x": -9.588967323303223,
                    "y": -0.07126350700855255,
                    "z": 0.18736672401428223
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.650711059570312,
                "transform": {
                    "location": {
                        "x": -968.46630859375,
                        "y": 6485.77978515625,
                        "z": 363.41302490234375
                    },
                    "rotation": {
                        "roll": 0.010135115124285221,
                        "pitch": 0.9122331738471985,
                        "yaw": -179.55918884277344
                    }
                },
                "velocity": {
                    "x": -9.649273872375488,
                    "y": -0.07217733561992645,
                    "z": 0.1500377655029297
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -835.6685180664062,
                        "y": 6486.78759765625,
                        "z": 360.9557800292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08608856052160263,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            11.863770454011272,
            0.2646915544571513
        ],
        "target_point_next": [
            34.661940792787796,
            1.7560946663887178
        ]
    },
    "520": {
        "acceleration": [
            0.5976295471191406,
            -0.23319244384765625,
            0.013768374919891357
        ],
        "angular_velocity": [
            -0.004773501772433519,
            0.206520676612854,
            -1.4498732089996338
        ],
        "forward_vector": [
            -0.9966187477111816,
            0.08119326084852219,
            0.01259519997984171
        ],
        "right_vector": [
            -0.08118187636137009,
            -0.996698260307312,
            0.0014134933007881045
        ],
        "location": [
            -940.9462890625,
            6481.173828125,
            362.98870849609375
        ],
        "rotation": [
            -0.08099365234375,
            0.721670925617218,
            175.34246826171875
        ],
        "velocity": [
            -8.207716941833496,
            0.6479573845863342,
            0.12281970679759979
        ],
        "speed": 8.233253680623509,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.4845783968779114,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.609107971191406,
                "transform": {
                    "location": {
                        "x": -874.7609252929688,
                        "y": 6486.49169921875,
                        "z": 361.6709289550781
                    },
                    "rotation": {
                        "roll": 0.0007231236668303609,
                        "pitch": 1.3079333305358887,
                        "yaw": -179.56077575683594
                    }
                },
                "velocity": {
                    "x": -9.606297492980957,
                    "y": -0.07473693788051605,
                    "z": 0.22005601227283478
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -871.4942016601562,
                        "y": 6493.51611328125,
                        "z": 361.6017150878906
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -870.8428955078125,
                        "y": 6490.02099609375,
                        "z": 361.5870666503906
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.296263694763184,
                "transform": {
                    "location": {
                        "x": -949.8622436523438,
                        "y": 6485.92236328125,
                        "z": 363.12933349609375
                    },
                    "rotation": {
                        "roll": 0.05756144970655441,
                        "pitch": 0.868000864982605,
                        "yaw": -179.54608154296875
                    }
                },
                "velocity": {
                    "x": -9.294930458068848,
                    "y": -0.07327685505151749,
                    "z": 0.13936911523342133
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.59555435180664,
                "transform": {
                    "location": {
                        "x": -916.947021484375,
                        "y": 6486.1806640625,
                        "z": 362.6195983886719
                    },
                    "rotation": {
                        "roll": -0.8767394423484802,
                        "pitch": 1.422120451927185,
                        "yaw": -179.4833526611328
                    }
                },
                "velocity": {
                    "x": -9.59168529510498,
                    "y": -0.06829501688480377,
                    "z": 0.2637743651866913
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.945517539978027,
                "transform": {
                    "location": {
                        "x": -895.7665405273438,
                        "y": 6489.7373046875,
                        "z": 362.1285095214844
                    },
                    "rotation": {
                        "roll": -0.004241942428052425,
                        "pitch": 1.1961095333099365,
                        "yaw": -179.82847595214844
                    }
                },
                "velocity": {
                    "x": -7.943597793579102,
                    "y": -0.060473307967185974,
                    "z": 0.16385875642299652
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -857.2930297851562,
                        "y": 6486.62353515625,
                        "z": 361.2741394042969
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1225.5386962890625,
                        "y": 6471.1162109375,
                        "z": 371.4201354980469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1199.885498046875,
                        "y": 6473.82470703125,
                        "z": 370.7294006347656
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1181.0645751953125,
                        "y": 6475.8125,
                        "z": 370.17401123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.1180419921875,
                        "y": 6477.91845703125,
                        "z": 369.5353698730469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1140.2408447265625,
                        "y": 6480.1123046875,
                        "z": 368.8091735839844
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1109.2586669921875,
                        "y": 6482.77685546875,
                        "z": 367.67022705078125
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1086.328125,
                        "y": 6484.1171875,
                        "z": 366.8008117675781
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1066.3074951171875,
                        "y": 6484.85595703125,
                        "z": 366.0274658203125
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1041.3602294921875,
                        "y": 6485.2275390625,
                        "z": 365.0155334472656
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.619291305541992,
                "transform": {
                    "location": {
                        "x": -1008.9180297851562,
                        "y": 6485.47412109375,
                        "z": 364.1072082519531
                    },
                    "rotation": {
                        "roll": -0.0007324217003770173,
                        "pitch": 1.1864720582962036,
                        "yaw": -179.56842041015625
                    }
                },
                "velocity": {
                    "x": -9.61699104309082,
                    "y": -0.07072581350803375,
                    "z": 0.19808261096477509
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.650812149047852,
                "transform": {
                    "location": {
                        "x": -970.878662109375,
                        "y": 6485.76171875,
                        "z": 363.45062255859375
                    },
                    "rotation": {
                        "roll": 0.0051458775997161865,
                        "pitch": 0.9108808040618896,
                        "yaw": -179.5840301513672
                    }
                },
                "velocity": {
                    "x": -9.649365425109863,
                    "y": -0.07079294323921204,
                    "z": 0.1513940393924713
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -838.0928955078125,
                        "y": 6486.76904296875,
                        "z": 360.9754638671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0843864306807518,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            9.779267893554449,
            0.2063723437946784
        ],
        "target_point_next": [
            32.58467342599857,
            1.5827198794541715
        ]
    },
    "525": {
        "acceleration": [
            -0.4417610168457031,
            -0.1337575912475586,
            0.02392008900642395
        ],
        "angular_velocity": [
            0.09148381650447845,
            0.4319782853126526,
            3.81166934967041
        ],
        "forward_vector": [
            -0.9970462322235107,
            0.07548315078020096,
            0.014180661179125309
        ],
        "right_vector": [
            -0.07547344267368317,
            -0.9971470832824707,
            0.0012196045136079192
        ],
        "location": [
            -942.9951171875,
            6481.3310546875,
            363.01885986328125
        ],
        "rotation": [
            -0.0698852390050888,
            0.8125192523002625,
            175.6705780029297
        ],
        "velocity": [
            -8.218867301940918,
            0.6051666736602783,
            0.12378375977277756
        ],
        "speed": 8.241116819328715,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.4865198882745436,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.599623680114746,
                "transform": {
                    "location": {
                        "x": -877.1608276367188,
                        "y": 6486.4736328125,
                        "z": 361.7257385253906
                    },
                    "rotation": {
                        "roll": 0.0008048981544561684,
                        "pitch": 1.3122363090515137,
                        "yaw": -179.54592895507812
                    }
                },
                "velocity": {
                    "x": -9.596800804138184,
                    "y": -0.07471638172864914,
                    "z": 0.22047071158885956
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -873.5770263671875,
                        "y": 6493.5,
                        "z": 361.6502990722656
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -872.9255981445312,
                        "y": 6490.00537109375,
                        "z": 361.63568115234375
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.571290016174316,
                "transform": {
                    "location": {
                        "x": -952.2051391601562,
                        "y": 6485.90380859375,
                        "z": 363.1647644042969
                    },
                    "rotation": {
                        "roll": 0.048954788595438004,
                        "pitch": 0.9122058749198914,
                        "yaw": -179.55198669433594
                    }
                },
                "velocity": {
                    "x": -9.569891929626465,
                    "y": -0.07415841519832611,
                    "z": 0.14579111337661743
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.617064476013184,
                "transform": {
                    "location": {
                        "x": -919.3479614257812,
                        "y": 6486.16357421875,
                        "z": 362.6749572753906
                    },
                    "rotation": {
                        "roll": -1.0877074003219604,
                        "pitch": 1.129501461982727,
                        "yaw": -179.48538208007812
                    }
                },
                "velocity": {
                    "x": -9.615019798278809,
                    "y": -0.06787601858377457,
                    "z": 0.18631622195243835
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33576,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.014676094055176,
                "transform": {
                    "location": {
                        "x": -897.76123046875,
                        "y": 6489.72216796875,
                        "z": 362.1697998046875
                    },
                    "rotation": {
                        "roll": -0.005645751021802425,
                        "pitch": 1.165708303451538,
                        "yaw": -179.82362365722656
                    }
                },
                "velocity": {
                    "x": -8.012777328491211,
                    "y": -0.06088177487254143,
                    "z": 0.16349603235721588
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -859.6932373046875,
                        "y": 6486.60595703125,
                        "z": 361.32427978515625
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1228.0240478515625,
                        "y": 6470.85302734375,
                        "z": 371.48297119140625
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1202.370849609375,
                        "y": 6473.5625,
                        "z": 370.8001403808594
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1183.5496826171875,
                        "y": 6475.5498046875,
                        "z": 370.2498474121094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.602783203125,
                        "y": 6477.65625,
                        "z": 369.6177978515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1142.7261962890625,
                        "y": 6479.859375,
                        "z": 368.8991394042969
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1111.750732421875,
                        "y": 6482.59912109375,
                        "z": 367.7649230957031
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1088.8236083984375,
                        "y": 6483.9990234375,
                        "z": 366.8952941894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1068.80419921875,
                        "y": 6484.7880859375,
                        "z": 366.1279296875
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1043.8583984375,
                        "y": 6485.20849609375,
                        "z": 365.1101379394531
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.590063095092773,
                "transform": {
                    "location": {
                        "x": -1011.3190307617188,
                        "y": 6485.4560546875,
                        "z": 364.1575012207031
                    },
                    "rotation": {
                        "roll": 0.0003379624686203897,
                        "pitch": 1.2161356210708618,
                        "yaw": -179.5714111328125
                    }
                },
                "velocity": {
                    "x": -9.587393760681152,
                    "y": -0.07147610187530518,
                    "z": 0.21465164422988892
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.65075969696045,
                "transform": {
                    "location": {
                        "x": -973.291015625,
                        "y": 6485.744140625,
                        "z": 363.48828125
                    },
                    "rotation": {
                        "roll": -0.0002746580867096782,
                        "pitch": 0.9176153540611267,
                        "yaw": -179.5643310546875
                    }
                },
                "velocity": {
                    "x": -9.649323463439941,
                    "y": -0.0713578388094902,
                    "z": 0.15046051144599915
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -840.5528564453125,
                        "y": 6486.7509765625,
                        "z": 361.0008544921875
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07533883303403854,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            7.7254383604918315,
            0.15248057512086127
        ],
        "target_point_next": [
            30.53835137595182,
            1.3982148113065551
        ]
    },
    "530": {
        "acceleration": [
            -1.0431671142578125,
            -0.11173486709594727,
            0.03479376435279846
        ],
        "angular_velocity": [
            -0.0066802180372178555,
            0.3344062864780426,
            -1.2792900800704956
        ],
        "forward_vector": [
            -0.9973735213279724,
            0.07065266370773315,
            0.015944043174386024
        ],
        "right_vector": [
            -0.07064341753721237,
            -0.997501015663147,
            0.0011434154585003853
        ],
        "location": [
            -945.0758666992188,
            6481.47998046875,
            363.0496520996094
        ],
        "rotation": [
            -0.0655212253332138,
            0.9135650992393494,
            175.94801330566406
        ],
        "velocity": [
            -8.432921409606934,
            0.5759233832359314,
            0.12518836557865143
        ],
        "speed": 8.452564773130396,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.4883250851764886,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.604050636291504,
                "transform": {
                    "location": {
                        "x": -879.5604248046875,
                        "y": 6486.455078125,
                        "z": 361.7803039550781
                    },
                    "rotation": {
                        "roll": 0.001120664761401713,
                        "pitch": 1.295932650566101,
                        "yaw": -179.56719970703125
                    }
                },
                "velocity": {
                    "x": -9.601387023925781,
                    "y": -0.07420843094587326,
                    "z": 0.21367290616035461
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -875.6598510742188,
                        "y": 6493.48486328125,
                        "z": 361.6982421875
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -875.0084228515625,
                        "y": 6489.9892578125,
                        "z": 361.6839294433594
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.641165733337402,
                "transform": {
                    "location": {
                        "x": -954.6340942382812,
                        "y": 6485.88525390625,
                        "z": 363.20172119140625
                    },
                    "rotation": {
                        "roll": 0.04541889205574989,
                        "pitch": 0.901885449886322,
                        "yaw": -179.56158447265625
                    }
                },
                "velocity": {
                    "x": -9.639724731445312,
                    "y": -0.07430151104927063,
                    "z": 0.1491864025592804
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.59801197052002,
                "transform": {
                    "location": {
                        "x": -921.7481689453125,
                        "y": 6486.14697265625,
                        "z": 362.72100830078125
                    },
                    "rotation": {
                        "roll": -0.9678953886032104,
                        "pitch": 1.0994008779525757,
                        "yaw": -179.468994140625
                    }
                },
                "velocity": {
                    "x": -9.596038818359375,
                    "y": -0.07989290356636047,
                    "z": 0.1774279773235321
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -859.8672485351562,
                        "y": 6493.60400390625,
                        "z": 361.328857421875
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -862.0927124023438,
                        "y": 6486.58740234375,
                        "z": 361.3804931640625
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33584,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -859.4241333007812,
                        "y": 6490.10791015625,
                        "z": 361.31964111328125
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1230.5093994140625,
                        "y": 6470.59033203125,
                        "z": 371.5447082519531
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1204.856201171875,
                        "y": 6473.2998046875,
                        "z": 370.8694763183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1186.0350341796875,
                        "y": 6475.2880859375,
                        "z": 370.3248291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.0875244140625,
                        "y": 6477.3935546875,
                        "z": 369.69940185546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.2109375,
                        "y": 6479.5966796875,
                        "z": 368.98760986328125
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1114.2421875,
                        "y": 6482.4150390625,
                        "z": 367.8591003417969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1091.3187255859375,
                        "y": 6483.87158203125,
                        "z": 366.9899597167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1071.300537109375,
                        "y": 6484.7099609375,
                        "z": 366.2261962890625
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1046.3565673828125,
                        "y": 6485.1884765625,
                        "z": 365.2105712890625
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.615191459655762,
                "transform": {
                    "location": {
                        "x": -1013.72021484375,
                        "y": 6485.43798828125,
                        "z": 364.2108459472656
                    },
                    "rotation": {
                        "roll": 5.034821151639335e-05,
                        "pitch": 1.3675130605697632,
                        "yaw": -179.5687713623047
                    }
                },
                "velocity": {
                    "x": -9.612317085266113,
                    "y": -0.07238546013832092,
                    "z": 0.22366738319396973
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.650797843933105,
                "transform": {
                    "location": {
                        "x": -975.7032470703125,
                        "y": 6485.72607421875,
                        "z": 363.5260314941406
                    },
                    "rotation": {
                        "roll": -0.0021667478140443563,
                        "pitch": 0.916686475276947,
                        "yaw": -179.57858276367188
                    }
                },
                "velocity": {
                    "x": -9.649359703063965,
                    "y": -0.07292094826698303,
                    "z": 0.14979036152362823
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -842.952392578125,
                        "y": 6486.73291015625,
                        "z": 361.0303955078125
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06945867091417313,
        "expert_target_speed": 9.5121991645738,
        "target_point": [
            28.458692183551157,
            1.2518488697026986
        ],
        "target_point_next": [
            34.714101315957755,
            -1.7682751432016497
        ]
    },
    "535": {
        "acceleration": [
            -1.2000083923339844,
            -0.323333740234375,
            0.02050727605819702
        ],
        "angular_velocity": [
            -0.14132234454154968,
            0.1845312863588333,
            4.3848557472229
        ],
        "forward_vector": [
            -0.9978036880493164,
            0.06400438398122787,
            0.01706564798951149
        ],
        "right_vector": [
            -0.06398835778236389,
            -0.9979495406150818,
            0.0014842291129752994
        ],
        "location": [
            -947.221435546875,
            6481.62060546875,
            363.0816955566406
        ],
        "rotation": [
            -0.0850524827837944,
            0.9778371453285217,
            176.32977294921875
        ],
        "velocity": [
            -8.721789360046387,
            0.5292874574661255,
            0.13144440948963165
        ],
        "speed": 8.737834677633202,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.490063648567755,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.607254981994629,
                "transform": {
                    "location": {
                        "x": -881.9609985351562,
                        "y": 6486.43603515625,
                        "z": 361.8338317871094
                    },
                    "rotation": {
                        "roll": -0.00027465811581350863,
                        "pitch": 1.2532508373260498,
                        "yaw": -179.55184936523438
                    }
                },
                "velocity": {
                    "x": -9.60465145111084,
                    "y": -0.07388316094875336,
                    "z": 0.2111016809940338
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -877.7425537109375,
                        "y": 6493.46875,
                        "z": 361.7455749511719
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -877.0912475585938,
                        "y": 6489.9736328125,
                        "z": 361.7313537597656
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.225787162780762,
                "transform": {
                    "location": {
                        "x": -956.969482421875,
                        "y": 6485.8671875,
                        "z": 363.23760986328125
                    },
                    "rotation": {
                        "roll": 0.04130813851952553,
                        "pitch": 0.8469502329826355,
                        "yaw": -179.56460571289062
                    }
                },
                "velocity": {
                    "x": -9.224404335021973,
                    "y": -0.0707072988152504,
                    "z": 0.14322395622730255
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.590760231018066,
                "transform": {
                    "location": {
                        "x": -924.150634765625,
                        "y": 6486.12548828125,
                        "z": 362.75994873046875
                    },
                    "rotation": {
                        "roll": -0.65966796875,
                        "pitch": 0.8225664496421814,
                        "yaw": -179.4558868408203
                    }
                },
                "velocity": {
                    "x": -9.586992263793945,
                    "y": -0.06803195923566818,
                    "z": 0.26003822684288025
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -861.9500732421875,
                        "y": 6493.587890625,
                        "z": 361.37689208984375
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -864.4932861328125,
                        "y": 6486.56884765625,
                        "z": 361.4371337890625
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33584,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -861.5069580078125,
                        "y": 6490.091796875,
                        "z": 361.3673095703125
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1232.994873046875,
                        "y": 6470.328125,
                        "z": 371.6060791015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.341552734375,
                        "y": 6473.0380859375,
                        "z": 370.9386291503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1188.5203857421875,
                        "y": 6475.025390625,
                        "z": 370.39892578125
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.572265625,
                        "y": 6477.1318359375,
                        "z": 369.7801818847656
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.69580078125,
                        "y": 6479.3359375,
                        "z": 369.0758361816406
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1116.7330322265625,
                        "y": 6482.22412109375,
                        "z": 367.9531555175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1093.8135986328125,
                        "y": 6483.73974609375,
                        "z": 367.0844421386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1073.796875,
                        "y": 6484.63037109375,
                        "z": 366.3240966796875
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1048.8546142578125,
                        "y": 6485.169921875,
                        "z": 365.3113098144531
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.593194961547852,
                "transform": {
                    "location": {
                        "x": -1016.1205444335938,
                        "y": 6485.419921875,
                        "z": 364.2677001953125
                    },
                    "rotation": {
                        "roll": -0.00015258791972883046,
                        "pitch": 1.3602936267852783,
                        "yaw": -179.5628662109375
                    }
                },
                "velocity": {
                    "x": -9.590208053588867,
                    "y": -0.07471660524606705,
                    "z": 0.22741849720478058
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.650675773620605,
                "transform": {
                    "location": {
                        "x": -978.1156005859375,
                        "y": 6485.70751953125,
                        "z": 363.56378173828125
                    },
                    "rotation": {
                        "roll": -0.0014953619102016091,
                        "pitch": 0.9173967838287354,
                        "yaw": -179.55154418945312
                    }
                },
                "velocity": {
                    "x": -9.649229049682617,
                    "y": -0.07363936305046082,
                    "z": 0.15002015233039856
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -845.4124755859375,
                        "y": 6486.71337890625,
                        "z": 361.0640563964844
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.060089148581027985,
        "expert_target_speed": 0,
        "target_point": [
            26.31623105466973,
            1.0651977406625925
        ],
        "target_point_next": [
            32.55137886666043,
            -1.9965377524433836
        ]
    },
    "540": {
        "acceleration": [
            -0.6448173522949219,
            -0.3978520631790161,
            0.017526745796203613
        ],
        "angular_velocity": [
            -0.12529242038726807,
            -0.060758329927921295,
            0.4464902877807617
        ],
        "forward_vector": [
            -0.9984343647956848,
            0.05315437912940979,
            0.017421673983335495
        ],
        "right_vector": [
            -0.05312446132302284,
            -0.9985855221748352,
            0.0021760035306215286
        ],
        "location": [
            -949.4365234375,
            6481.7421875,
            363.1152648925781
        ],
        "rotation": [
            -0.12469482421875,
            0.9982389211654663,
            176.95257568359375
        ],
        "velocity": [
            -8.961258888244629,
            0.43446576595306396,
            0.13572253286838531
        ],
        "speed": 8.971784736825139,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.49172364481238,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.606622695922852,
                "transform": {
                    "location": {
                        "x": -884.3621826171875,
                        "y": 6486.41748046875,
                        "z": 361.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0006408690824173391,
                        "pitch": 1.2582368850708008,
                        "yaw": -179.5758056640625
                    }
                },
                "velocity": {
                    "x": -9.604065895080566,
                    "y": -0.07183250039815903,
                    "z": 0.2096453756093979
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -879.8253784179688,
                        "y": 6493.453125,
                        "z": 361.7928466796875
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -879.174072265625,
                        "y": 6489.9580078125,
                        "z": 361.77874755859375
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.775026321411133,
                "transform": {
                    "location": {
                        "x": -959.3508911132812,
                        "y": 6485.84912109375,
                        "z": 363.2746276855469
                    },
                    "rotation": {
                        "roll": 0.03154159337282181,
                        "pitch": 0.9523468613624573,
                        "yaw": -179.5657958984375
                    }
                },
                "velocity": {
                    "x": -9.773594856262207,
                    "y": -0.07418700307607651,
                    "z": 0.14992490410804749
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.605133056640625,
                "transform": {
                    "location": {
                        "x": -926.5525512695312,
                        "y": 6486.10791015625,
                        "z": 362.79901123046875
                    },
                    "rotation": {
                        "roll": -0.5051880478858948,
                        "pitch": 1.3263611793518066,
                        "yaw": -179.48141479492188
                    }
                },
                "velocity": {
                    "x": -9.602709770202637,
                    "y": -0.0815310850739479,
                    "z": 0.1997569054365158
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -864.0328979492188,
                        "y": 6493.572265625,
                        "z": 361.4249267578125
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -866.8943481445312,
                        "y": 6486.55126953125,
                        "z": 361.49432373046875
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33584,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -863.5896606445312,
                        "y": 6490.076171875,
                        "z": 361.4153137207031
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.480224609375,
                        "y": 6470.0654296875,
                        "z": 371.6663513183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.826904296875,
                        "y": 6472.775390625,
                        "z": 371.0064697265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1191.0054931640625,
                        "y": 6474.76318359375,
                        "z": 370.4722900390625
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.0570068359375,
                        "y": 6476.869140625,
                        "z": 369.8602294921875
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1150.1802978515625,
                        "y": 6479.07373046875,
                        "z": 369.1624450683594
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1119.2237548828125,
                        "y": 6482.02734375,
                        "z": 368.0459289550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1096.30810546875,
                        "y": 6483.60009765625,
                        "z": 367.17913818359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1076.2930908203125,
                        "y": 6484.5390625,
                        "z": 366.4197692871094
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1051.3521728515625,
                        "y": 6485.140625,
                        "z": 365.41412353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.61330509185791,
                "transform": {
                    "location": {
                        "x": -1018.521240234375,
                        "y": 6485.40087890625,
                        "z": 364.3275451660156
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": 1.488318681716919,
                        "yaw": -179.5635528564453
                    }
                },
                "velocity": {
                    "x": -9.609806060791016,
                    "y": -0.0730215311050415,
                    "z": 0.2488383948802948
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.650579452514648,
                "transform": {
                    "location": {
                        "x": -980.5278930664062,
                        "y": 6485.689453125,
                        "z": 363.6015930175781
                    },
                    "rotation": {
                        "roll": -0.0015563963679596782,
                        "pitch": 0.9173353314399719,
                        "yaw": -179.57272338867188
                    }
                },
                "velocity": {
                    "x": -9.649120330810547,
                    "y": -0.07375061511993408,
                    "z": 0.15071134269237518
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -847.813720703125,
                        "y": 6486.69482421875,
                        "z": 361.1002197265625
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.032478027045726776,
        "expert_target_speed": 0,
        "target_point": [
            24.10783572144055,
            0.7827345095944537
        ],
        "target_point_next": [
            30.309334827803713,
            -2.346594699819957
        ]
    },
    "545": {
        "acceleration": [
            0.016536712646484375,
            -0.6039726734161377,
            0.007131099700927734
        ],
        "angular_velocity": [
            -0.13217021524906158,
            -0.20054006576538086,
            5.953240871429443
        ],
        "forward_vector": [
            -0.9990937113761902,
            0.03917426988482475,
            0.016648951917886734
        ],
        "right_vector": [
            -0.03913388401269913,
            -0.9992302060127258,
            0.0027448025066405535
        ],
        "location": [
            -951.6856079101562,
            6481.83740234375,
            363.1498107910156
        ],
        "rotation": [
            -0.15728759765625,
            0.9539588093757629,
            177.7545928955078
        ],
        "velocity": [
            -9.00815200805664,
            0.30352461338043213,
            0.13873086869716644
        ],
        "speed": 9.01326410304184,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.493265064606758,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.60605525970459,
                "transform": {
                    "location": {
                        "x": -886.7630004882812,
                        "y": 6486.39990234375,
                        "z": 361.9389343261719
                    },
                    "rotation": {
                        "roll": -0.0009155275183729827,
                        "pitch": 1.257540225982666,
                        "yaw": -179.568115234375
                    }
                },
                "velocity": {
                    "x": -9.603548049926758,
                    "y": -0.072214275598526,
                    "z": 0.2072550356388092
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -881.908203125,
                        "y": 6493.4375,
                        "z": 361.83892822265625
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -881.2567749023438,
                        "y": 6489.9423828125,
                        "z": 361.8249816894531
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.361340522766113,
                "transform": {
                    "location": {
                        "x": -961.7405395507812,
                        "y": 6485.8310546875,
                        "z": 363.3113098144531
                    },
                    "rotation": {
                        "roll": 0.016254005953669548,
                        "pitch": 0.8472712635993958,
                        "yaw": -179.56825256347656
                    }
                },
                "velocity": {
                    "x": -9.35992431640625,
                    "y": -0.07061063498258591,
                    "z": 0.14669086039066315
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.603720664978027,
                "transform": {
                    "location": {
                        "x": -928.9506225585938,
                        "y": 6486.08935546875,
                        "z": 362.84716796875
                    },
                    "rotation": {
                        "roll": -0.6828307509422302,
                        "pitch": 0.9107168912887573,
                        "yaw": -179.4929962158203
                    }
                },
                "velocity": {
                    "x": -9.602218627929688,
                    "y": -0.07124817371368408,
                    "z": 0.15417814254760742
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -866.1156005859375,
                        "y": 6493.556640625,
                        "z": 361.4742736816406
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -869.2950439453125,
                        "y": 6486.533203125,
                        "z": 361.5515441894531
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33584,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -865.6724243164062,
                        "y": 6490.060546875,
                        "z": 361.46435546875
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.965576171875,
                        "y": 6469.8037109375,
                        "z": 371.726318359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1212.312255859375,
                        "y": 6472.51220703125,
                        "z": 371.0741271972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1193.49072265625,
                        "y": 6474.5009765625,
                        "z": 370.54510498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1173.5416259765625,
                        "y": 6476.60693359375,
                        "z": 369.9393615722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1152.6649169921875,
                        "y": 6478.81103515625,
                        "z": 369.2489318847656
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1121.7139892578125,
                        "y": 6481.82421875,
                        "z": 368.1377258300781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1098.80224609375,
                        "y": 6483.4560546875,
                        "z": 367.2735900878906
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1078.789306640625,
                        "y": 6484.44677734375,
                        "z": 366.5151062011719
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1053.8497314453125,
                        "y": 6485.11181640625,
                        "z": 365.51666259765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.59095573425293,
                "transform": {
                    "location": {
                        "x": -1020.9210815429688,
                        "y": 6485.38232421875,
                        "z": 364.3904113769531
                    },
                    "rotation": {
                        "roll": 8.489389438182116e-05,
                        "pitch": 1.5476865768432617,
                        "yaw": -179.56419372558594
                    }
                },
                "velocity": {
                    "x": -9.58720874786377,
                    "y": -0.07289896160364151,
                    "z": 0.2579561471939087
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.650527000427246,
                "transform": {
                    "location": {
                        "x": -982.9401245117188,
                        "y": 6485.67041015625,
                        "z": 363.6393127441406
                    },
                    "rotation": {
                        "roll": 0.0013256012462079525,
                        "pitch": 0.9168435335159302,
                        "yaw": -179.55104064941406
                    }
                },
                "velocity": {
                    "x": -9.649078369140625,
                    "y": -0.07373157143592834,
                    "z": 0.15004965662956238
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -850.2935791015625,
                        "y": 6486.67626953125,
                        "z": 361.1398010253906
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.008602575398981571,
        "expert_target_speed": 0,
        "target_point": [
            21.8653421724559,
            0.45223078877303
        ],
        "target_point_next": [
            28.022430694030593,
            -2.763597783245456
        ]
    },
    "550": {
        "acceleration": [
            -0.0274658203125,
            -0.5995702743530273,
            0.007114112377166748
        ],
        "angular_velocity": [
            -0.0511416532099247,
            -0.06265847384929657,
            1.3863985538482666
        ],
        "forward_vector": [
            -0.9995973110198975,
            0.023341652005910873,
            0.016138805076479912
        ],
        "right_vector": [
            -0.023293450474739075,
            -0.9997236728668213,
            0.0031682108528912067
        ],
        "location": [
            -953.9376831054688,
            6481.8974609375,
            363.1846923828125
        ],
        "rotation": [
            -0.1815490573644638,
            0.9247255921363831,
            178.66232299804688
        ],
        "velocity": [
            -9.013640403747559,
            0.1558765023946762,
            0.13913209736347198
        ],
        "speed": 9.014988120461904,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.4946940856782347,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.6068115234375,
                "transform": {
                    "location": {
                        "x": -889.1636352539062,
                        "y": 6486.3818359375,
                        "z": 361.99053955078125
                    },
                    "rotation": {
                        "roll": 0.00043866553460247815,
                        "pitch": 1.2118667364120483,
                        "yaw": -179.58328247070312
                    }
                },
                "velocity": {
                    "x": -9.604363441467285,
                    "y": -0.0709744542837143,
                    "z": 0.2049439549446106
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -883.990966796875,
                        "y": 6493.4208984375,
                        "z": 361.8851013183594
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -883.339599609375,
                        "y": 6489.9267578125,
                        "z": 361.8712158203125
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.684311866760254,
                "transform": {
                    "location": {
                        "x": -964.1158447265625,
                        "y": 6485.8134765625,
                        "z": 363.3482360839844
                    },
                    "rotation": {
                        "roll": 0.007063130382448435,
                        "pitch": 0.9484195113182068,
                        "yaw": -179.56741333007812
                    }
                },
                "velocity": {
                    "x": -9.68288803100586,
                    "y": -0.07250182330608368,
                    "z": 0.14936603605747223
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.617049217224121,
                "transform": {
                    "location": {
                        "x": -931.35302734375,
                        "y": 6486.0712890625,
                        "z": 362.885498046875
                    },
                    "rotation": {
                        "roll": -0.5776365995407104,
                        "pitch": 0.9127249717712402,
                        "yaw": -179.5010986328125
                    }
                },
                "velocity": {
                    "x": -9.615548133850098,
                    "y": -0.07539497315883636,
                    "z": 0.15227727591991425
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -868.1984252929688,
                        "y": 6493.541015625,
                        "z": 361.5240478515625
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -831.3001098632812,
                        "y": 6486.8203125,
                        "z": 361.1000671386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3764936625957489,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -871.6958618164062,
                        "y": 6486.51416015625,
                        "z": 361.6076354980469
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33584,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -867.755126953125,
                        "y": 6490.044921875,
                        "z": 361.51409912109375
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1240.450927734375,
                        "y": 6469.541015625,
                        "z": 371.78546142578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1214.797607421875,
                        "y": 6472.25,
                        "z": 371.1404113769531
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1195.97607421875,
                        "y": 6474.23779296875,
                        "z": 370.6173400878906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1176.0263671875,
                        "y": 6476.3447265625,
                        "z": 370.0177001953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.149658203125,
                        "y": 6478.548828125,
                        "z": 369.3338928222656
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1124.2034912109375,
                        "y": 6481.61572265625,
                        "z": 368.22845458984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1101.2955322265625,
                        "y": 6483.30322265625,
                        "z": 367.36822509765625
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1081.2845458984375,
                        "y": 6484.3427734375,
                        "z": 366.6097106933594
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1056.3472900390625,
                        "y": 6485.06982421875,
                        "z": 365.6195983886719
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.612530708312988,
                "transform": {
                    "location": {
                        "x": -1023.3212890625,
                        "y": 6485.36474609375,
                        "z": 364.4560852050781
                    },
                    "rotation": {
                        "roll": 0.000364228937542066,
                        "pitch": 1.59312105178833,
                        "yaw": -179.5747833251953
                    }
                },
                "velocity": {
                    "x": -9.608254432678223,
                    "y": -0.07146872580051422,
                    "z": 0.27764028310775757
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.650824546813965,
                "transform": {
                    "location": {
                        "x": -985.3524780273438,
                        "y": 6485.65185546875,
                        "z": 363.67706298828125
                    },
                    "rotation": {
                        "roll": -3.0517559935105965e-05,
                        "pitch": 0.9170416593551636,
                        "yaw": -179.57516479492188
                    }
                },
                "velocity": {
                    "x": -9.649362564086914,
                    "y": -0.07349234074354172,
                    "z": 0.15106701850891113
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -852.694580078125,
                        "y": 6486.6591796875,
                        "z": 361.18310546875
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0671725645661354,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            19.616899009823637,
            0.11324690563388934
        ],
        "target_point_next": [
            25.72226887319534,
            -3.199720238566294
        ]
    },
    "555": {
        "acceleration": [
            0.1619720458984375,
            -0.10353982448577881,
            0.015644729137420654
        ],
        "angular_velocity": [
            0.3760215938091278,
            -0.047888658940792084,
            4.008600234985352
        ],
        "forward_vector": [
            -0.9998173713684082,
            0.010435397736728191,
            0.01600983738899231
        ],
        "right_vector": [
            -0.010400408878922462,
            -0.9999433159828186,
            0.0022671229671686888
        ],
        "location": [
            -956.190185546875,
            6481.9267578125,
            363.2197570800781
        ],
        "rotation": [
            -0.129913330078125,
            0.9173353314399719,
            179.40200805664062
        ],
        "velocity": [
            -8.999573707580566,
            0.0782858282327652,
            0.13934758305549622
        ],
        "speed": 8.999914198984206,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.495932583628285,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.6072998046875,
                "transform": {
                    "location": {
                        "x": -891.5648803710938,
                        "y": 6486.3642578125,
                        "z": 362.04119873046875
                    },
                    "rotation": {
                        "roll": 0.0018120837630704045,
                        "pitch": 1.200221300125122,
                        "yaw": -179.5668182373047
                    }
                },
                "velocity": {
                    "x": -9.604921340942383,
                    "y": -0.07254213094711304,
                    "z": 0.20108093321323395
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -886.07373046875,
                        "y": 6493.4052734375,
                        "z": 361.9305114746094
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -885.4224243164062,
                        "y": 6489.91064453125,
                        "z": 361.9168395996094
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.326811790466309,
                "transform": {
                    "location": {
                        "x": -966.4931030273438,
                        "y": 6485.79541015625,
                        "z": 363.3855895996094
                    },
                    "rotation": {
                        "roll": 0.013634013012051582,
                        "pitch": 0.8674066662788391,
                        "yaw": -179.56842041015625
                    }
                },
                "velocity": {
                    "x": -9.32536506652832,
                    "y": -0.07058192044496536,
                    "z": 0.14831995964050293
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.595648765563965,
                "transform": {
                    "location": {
                        "x": -933.7536010742188,
                        "y": 6486.0517578125,
                        "z": 362.92236328125
                    },
                    "rotation": {
                        "roll": -0.4570313096046448,
                        "pitch": 0.8758146166801453,
                        "yaw": -179.4853057861328
                    }
                },
                "velocity": {
                    "x": -9.5941801071167,
                    "y": -0.08294551074504852,
                    "z": 0.14592213928699493
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -870.28125,
                        "y": 6493.525390625,
                        "z": 361.5735168457031
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -832.8016967773438,
                        "y": 6486.80908203125,
                        "z": 360.9869689941406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -874.096923828125,
                        "y": 6486.49609375,
                        "z": 361.6636657714844
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33584,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -869.837890625,
                        "y": 6490.029296875,
                        "z": 361.5638122558594
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1242.936279296875,
                        "y": 6469.27880859375,
                        "z": 371.8445129394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1217.282958984375,
                        "y": 6471.9873046875,
                        "z": 371.2066650390625
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1198.46142578125,
                        "y": 6473.9755859375,
                        "z": 370.6888732910156
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1178.5111083984375,
                        "y": 6476.08251953125,
                        "z": 370.09521484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.6343994140625,
                        "y": 6478.28662109375,
                        "z": 369.4186096191406
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1126.6925048828125,
                        "y": 6481.39990234375,
                        "z": 368.3186340332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1103.7886962890625,
                        "y": 6483.14599609375,
                        "z": 367.4626770019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1083.77978515625,
                        "y": 6484.236328125,
                        "z": 366.7041320800781
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1058.8448486328125,
                        "y": 6485.02880859375,
                        "z": 365.7222900390625
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.587849617004395,
                "transform": {
                    "location": {
                        "x": -1025.720947265625,
                        "y": 6485.3466796875,
                        "z": 364.52484130859375
                    },
                    "rotation": {
                        "roll": 5.123144364915788e-05,
                        "pitch": 1.7307356595993042,
                        "yaw": -179.56544494628906
                    }
                },
                "velocity": {
                    "x": -9.5833101272583,
                    "y": -0.07273127883672714,
                    "z": 0.2858985960483551
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.650822639465332,
                "transform": {
                    "location": {
                        "x": -987.7648315429688,
                        "y": 6485.6337890625,
                        "z": 363.71484375
                    },
                    "rotation": {
                        "roll": -0.0007934569148346782,
                        "pitch": 0.916686475276947,
                        "yaw": -179.55239868164062
                    }
                },
                "velocity": {
                    "x": -9.649364471435547,
                    "y": -0.07336685806512833,
                    "z": 0.15087178349494934
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -855.1546020507812,
                        "y": 6486.6396484375,
                        "z": 361.22943115234375
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1268954873085022,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            17.364040747280228,
            -0.13422007701017155
        ],
        "target_point_next": [
            23.426132990463785,
            -3.525728606005948
        ]
    },
    "560": {
        "acceleration": [
            0.8046531677246094,
            -0.059476494789123535,
            -0.01692146062850952
        ],
        "angular_velocity": [
            0.08240478485822678,
            -0.196066752076149,
            -2.144904613494873
        ],
        "forward_vector": [
            -0.9998473525047302,
            0.007966814562678337,
            0.015547601506114006
        ],
        "right_vector": [
            -0.007953912019729614,
            -0.9999679327011108,
            0.0008915182552300394
        ],
        "location": [
            -958.4279174804688,
            6481.9453125,
            363.2547912597656
        ],
        "rotation": [
            -0.0510864183306694,
            0.8908478617668152,
            179.54347229003906
        ],
        "velocity": [
            -8.878167152404785,
            0.0640239343047142,
            0.13839091360569
        ],
        "speed": 8.878398000213954,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.497008058570829,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.607134819030762,
                "transform": {
                    "location": {
                        "x": -893.966064453125,
                        "y": 6486.34619140625,
                        "z": 362.0915222167969
                    },
                    "rotation": {
                        "roll": 0.0002116946707246825,
                        "pitch": 1.2046266794204712,
                        "yaw": -179.57687377929688
                    }
                },
                "velocity": {
                    "x": -9.604751586914062,
                    "y": -0.07220815122127533,
                    "z": 0.20143024623394012
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -888.1565551757812,
                        "y": 6493.38916015625,
                        "z": 361.9754333496094
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -887.505126953125,
                        "y": 6489.89501953125,
                        "z": 361.9618225097656
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.71095085144043,
                "transform": {
                    "location": {
                        "x": -968.8671875,
                        "y": 6485.77734375,
                        "z": 363.42279052734375
                    },
                    "rotation": {
                        "roll": 0.005419246852397919,
                        "pitch": 0.9355378150939941,
                        "yaw": -179.56687927246094
                    }
                },
                "velocity": {
                    "x": -9.709501266479492,
                    "y": -0.07300177216529846,
                    "z": 0.15104879438877106
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.621167182922363,
                "transform": {
                    "location": {
                        "x": -936.15576171875,
                        "y": 6486.0322265625,
                        "z": 362.958984375
                    },
                    "rotation": {
                        "roll": -0.2776794135570526,
                        "pitch": 0.869284987449646,
                        "yaw": -179.49124145507812
                    }
                },
                "velocity": {
                    "x": -9.619580268859863,
                    "y": -0.08692724257707596,
                    "z": 0.15161070227622986
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -872.364013671875,
                        "y": 6493.50927734375,
                        "z": 361.6219787597656
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -835.2810668945312,
                        "y": 6486.7900390625,
                        "z": 360.9493408203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -876.4978637695312,
                        "y": 6486.478515625,
                        "z": 361.7183837890625
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33584,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -871.920654296875,
                        "y": 6490.01318359375,
                        "z": 361.6123046875
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33558,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1245.421630859375,
                        "y": 6469.0166015625,
                        "z": 371.90350341796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1219.768310546875,
                        "y": 6471.7255859375,
                        "z": 371.27154541015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1200.94677734375,
                        "y": 6473.712890625,
                        "z": 370.7596740722656
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1180.995849609375,
                        "y": 6475.81982421875,
                        "z": 370.1719055175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.1187744140625,
                        "y": 6478.0244140625,
                        "z": 369.50189208984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1129.180908203125,
                        "y": 6481.17724609375,
                        "z": 368.4086608886719
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1106.2813720703125,
                        "y": 6482.98046875,
                        "z": 367.5573425292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1086.27490234375,
                        "y": 6484.12060546875,
                        "z": 366.79876708984375
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1061.3424072265625,
                        "y": 6484.97509765625,
                        "z": 365.8251037597656
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.615185737609863,
                "transform": {
                    "location": {
                        "x": -1028.120361328125,
                        "y": 6485.32861328125,
                        "z": 364.59686279296875
                    },
                    "rotation": {
                        "roll": -0.00012207008694531396,
                        "pitch": 1.7213715314865112,
                        "yaw": -179.56602478027344
                    }
                },
                "velocity": {
                    "x": -9.610593795776367,
                    "y": -0.07130151242017746,
                    "z": 0.28844404220581055
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.650708198547363,
                "transform": {
                    "location": {
                        "x": -990.1770629882812,
                        "y": 6485.61572265625,
                        "z": 363.7525939941406
                    },
                    "rotation": {
                        "roll": -0.0003967288648709655,
                        "pitch": 0.9163244962692261,
                        "yaw": -179.58168029785156
                    }
                },
                "velocity": {
                    "x": -9.649263381958008,
                    "y": -0.07234751433134079,
                    "z": 0.15051399171352386
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -857.5556030273438,
                        "y": 6486.62158203125,
                        "z": 361.27923583984375
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1491093635559082,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            15.125847765934767,
            -0.17636007172441742
        ],
        "target_point_next": [
            21.179549316323364,
            -3.5828230475895606
        ]
    },
    "565": {
        "acceleration": [
            1.2122154235839844,
            -0.1456776261329651,
            -0.0306740403175354
        ],
        "angular_velocity": [
            0.08549147099256516,
            -0.19860339164733887,
            3.177126884460449
        ],
        "forward_vector": [
            -0.9998779892921448,
            0.005636692047119141,
            0.014565309509634972
        ],
        "right_vector": [
            -0.005629663355648518,
            -0.9999840259552002,
            0.0005235217977315187
        ],
        "location": [
            -960.6126098632812,
            6481.9599609375,
            363.2893981933594
        ],
        "rotation": [
            -0.029998769983649254,
            0.8345602750778198,
            179.677001953125
        ],
        "velocity": [
            -8.602039337158203,
            0.03918735682964325,
            0.13619329035282135
        ],
        "speed": 8.602128597443334,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.4979053970045597,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.607457160949707,
                "transform": {
                    "location": {
                        "x": -896.3673095703125,
                        "y": 6486.328125,
                        "z": 362.14154052734375
                    },
                    "rotation": {
                        "roll": -0.0001831063418649137,
                        "pitch": 1.1891289949417114,
                        "yaw": -179.55690002441406
                    }
                },
                "velocity": {
                    "x": -9.605152130126953,
                    "y": -0.07308006286621094,
                    "z": 0.1973436325788498
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -890.2393798828125,
                        "y": 6493.3740234375,
                        "z": 362.02001953125
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -889.5879516601562,
                        "y": 6489.87939453125,
                        "z": 362.00677490234375
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.454998016357422,
                "transform": {
                    "location": {
                        "x": -971.2694091796875,
                        "y": 6485.75927734375,
                        "z": 363.4601135253906
                    },
                    "rotation": {
                        "roll": 0.0013134283944964409,
                        "pitch": 0.8776246309280396,
                        "yaw": -179.56759643554688
                    }
                },
                "velocity": {
                    "x": -9.453564643859863,
                    "y": -0.07123130559921265,
                    "z": 0.14840759336948395
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.597119331359863,
                "transform": {
                    "location": {
                        "x": -938.5574951171875,
                        "y": 6486.01171875,
                        "z": 362.9955139160156
                    },
                    "rotation": {
                        "roll": -0.10433956980705261,
                        "pitch": 0.9014756083488464,
                        "yaw": -179.49757385253906
                    }
                },
                "velocity": {
                    "x": -9.595687866210938,
                    "y": -0.08727115392684937,
                    "z": 0.14094863831996918
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -874.44677734375,
                        "y": 6493.49365234375,
                        "z": 361.6705627441406
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -837.7807006835938,
                        "y": 6486.77099609375,
                        "z": 360.9715576171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33587,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -858.2262573242188,
                        "y": 6490.1171875,
                        "z": 361.6767578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2281908988952637,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -878.8988037109375,
                        "y": 6486.4599609375,
                        "z": 361.7730712890625
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33584,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -874.00341796875,
                        "y": 6489.99755859375,
                        "z": 361.6608581542969
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1222.253662109375,
                        "y": 6471.462890625,
                        "z": 371.3362731933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1203.43212890625,
                        "y": 6473.45068359375,
                        "z": 370.8297119140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1183.4808349609375,
                        "y": 6475.55810546875,
                        "z": 370.2477111816406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.603515625,
                        "y": 6477.76220703125,
                        "z": 369.58502197265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1131.6688232421875,
                        "y": 6480.94921875,
                        "z": 368.4988098144531
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1108.77392578125,
                        "y": 6482.81103515625,
                        "z": 367.65179443359375
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1088.769775390625,
                        "y": 6484.001953125,
                        "z": 366.8932800292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1063.83984375,
                        "y": 6484.9208984375,
                        "z": 365.927734375
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.585482597351074,
                "transform": {
                    "location": {
                        "x": -1030.51953125,
                        "y": 6485.310546875,
                        "z": 364.6720275878906
                    },
                    "rotation": {
                        "roll": 0.0003024683683179319,
                        "pitch": 1.8636648654937744,
                        "yaw": -179.56524658203125
                    }
                },
                "velocity": {
                    "x": -9.580254554748535,
                    "y": -0.07274313271045685,
                    "z": 0.30805504322052
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.650740623474121,
                "transform": {
                    "location": {
                        "x": -992.5894165039062,
                        "y": 6485.59716796875,
                        "z": 363.79034423828125
                    },
                    "rotation": {
                        "roll": -0.0003356935631018132,
                        "pitch": 0.9166523218154907,
                        "yaw": -179.5596923828125
                    }
                },
                "velocity": {
                    "x": -9.649290084838867,
                    "y": -0.07218723744153976,
                    "z": 0.1509120762348175
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -860.015625,
                        "y": 6486.6025390625,
                        "z": 361.33221435546875
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33586,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -858.652099609375,
                        "y": 6493.61376953125,
                        "z": 361.55767822265625
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1757524013519287,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            12.940655378004353,
            -0.20928176855103645
        ],
        "target_point_next": [
            18.986400776240078,
            -3.629845325456367
        ]
    },
    "570": {
        "acceleration": [
            1.511993408203125,
            -0.21930837631225586,
            -0.008763670921325684
        ],
        "angular_velocity": [
            -0.08098629862070084,
            -0.1575346291065216,
            -1.203026294708252
        ],
        "forward_vector": [
            -0.9999043941497803,
            0.000991877750493586,
            0.013793506659567356
        ],
        "right_vector": [
            -0.0009793645003810525,
            -0.9999991059303284,
            0.000913909578230232
        ],
        "location": [
            -962.7189331054688,
            6481.962890625,
            363.3227233886719
        ],
        "rotation": [
            -0.052368152886629105,
            0.7903348207473755,
            179.9431610107422
        ],
        "velocity": [
            -8.251124382019043,
            -0.016516415402293205,
            0.13084843754768372
        ],
        "speed": 8.251140912596686,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.4986241886615366,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.60832405090332,
                "transform": {
                    "location": {
                        "x": -898.7684936523438,
                        "y": 6486.31005859375,
                        "z": 362.1908264160156
                    },
                    "rotation": {
                        "roll": 9.704104741103947e-05,
                        "pitch": 1.1565968990325928,
                        "yaw": -179.57321166992188
                    }
                },
                "velocity": {
                    "x": -9.606101989746094,
                    "y": -0.07219613343477249,
                    "z": 0.19360366463661194
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -892.3220825195312,
                        "y": 6493.35791015625,
                        "z": 362.06378173828125
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -891.6707763671875,
                        "y": 6489.86376953125,
                        "z": 362.0505676269531
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.652859687805176,
                "transform": {
                    "location": {
                        "x": -973.6514892578125,
                        "y": 6485.7412109375,
                        "z": 363.4973449707031
                    },
                    "rotation": {
                        "roll": -0.0009765622089616954,
                        "pitch": 0.9226150512695312,
                        "yaw": -179.56134033203125
                    }
                },
                "velocity": {
                    "x": -9.651405334472656,
                    "y": -0.07369083911180496,
                    "z": 0.15049037337303162
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.620543479919434,
                "transform": {
                    "location": {
                        "x": -940.958984375,
                        "y": 6485.99169921875,
                        "z": 363.0313720703125
                    },
                    "rotation": {
                        "roll": -0.059173572808504105,
                        "pitch": 0.8116928339004517,
                        "yaw": -179.53578186035156
                    }
                },
                "velocity": {
                    "x": -9.619153022766113,
                    "y": -0.07918916642665863,
                    "z": 0.14312182366847992
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -876.5296020507812,
                        "y": 6493.47802734375,
                        "z": 361.71795654296875
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -840.2607421875,
                        "y": 6486.7529296875,
                        "z": 360.99652099609375
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33587,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -860.2572631835938,
                        "y": 6490.10107421875,
                        "z": 361.3384704589844
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -881.300048828125,
                        "y": 6486.44091796875,
                        "z": 361.82672119140625
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33584,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -876.0862426757812,
                        "y": 6489.98193359375,
                        "z": 361.70849609375
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1224.739013671875,
                        "y": 6471.20068359375,
                        "z": 371.3996887207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1205.9173583984375,
                        "y": 6473.1884765625,
                        "z": 370.8990478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1185.9656982421875,
                        "y": 6475.29541015625,
                        "z": 370.32275390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.0882568359375,
                        "y": 6477.5,
                        "z": 369.6666259765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1134.1561279296875,
                        "y": 6480.71435546875,
                        "z": 368.5887756347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1111.2659912109375,
                        "y": 6482.6328125,
                        "z": 367.7464904785156
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1091.264404296875,
                        "y": 6483.87353515625,
                        "z": 366.9878845214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1066.3367919921875,
                        "y": 6484.853515625,
                        "z": 366.0286560058594
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1033.0189208984375,
                        "y": 6485.291015625,
                        "z": 364.7248840332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.65051555633545,
                "transform": {
                    "location": {
                        "x": -995.001708984375,
                        "y": 6485.5791015625,
                        "z": 363.828125
                    },
                    "rotation": {
                        "roll": 0.00037140119820833206,
                        "pitch": 0.9174582958221436,
                        "yaw": -179.58224487304688
                    }
                },
                "velocity": {
                    "x": -9.649076461791992,
                    "y": -0.07228324562311172,
                    "z": 0.1501820683479309
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -862.416748046875,
                        "y": 6486.5849609375,
                        "z": 361.3882751464844
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33586,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -860.7003784179688,
                        "y": 6493.59814453125,
                        "z": 361.34808349609375
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.22368618845939636,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            10.833218458446746,
            -0.2685525213358587
        ],
        "target_point_next": [
            16.863008975915733,
            -3.71716365954184
        ]
    },
    "575": {
        "acceleration": [
            1.2284660339355469,
            -0.018855184316635132,
            -0.011761188507080078
        ],
        "angular_velocity": [
            0.1794438660144806,
            0.013018523342907429,
            3.461332321166992
        ],
        "forward_vector": [
            -0.9998962879180908,
            -0.004831001628190279,
            0.013566553592681885
        ],
        "right_vector": [
            0.0048404415138065815,
            -0.9999880194664001,
            0.0006630661082454026
        ],
        "location": [
            -964.7369384765625,
            6481.955078125,
            363.35455322265625
        ],
        "rotation": [
            -0.0379943884909153,
            0.7773301005363464,
            -179.72317504882812
        ],
        "velocity": [
            -7.918303489685059,
            -0.04535234346985817,
            0.12543347477912903
        ],
        "speed": 7.918433367138779,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.499190859710323,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.608675956726074,
                "transform": {
                    "location": {
                        "x": -901.1700439453125,
                        "y": 6486.291015625,
                        "z": 362.239013671875
                    },
                    "rotation": {
                        "roll": 8.555584645364434e-05,
                        "pitch": 1.1472736597061157,
                        "yaw": -179.5549774169922
                    }
                },
                "velocity": {
                    "x": -9.606462478637695,
                    "y": -0.07400017976760864,
                    "z": 0.19250018894672394
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -894.4049072265625,
                        "y": 6493.34228515625,
                        "z": 362.1075744628906
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -893.7536010742188,
                        "y": 6489.84814453125,
                        "z": 362.0943908691406
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.41590404510498,
                "transform": {
                    "location": {
                        "x": -976.0513916015625,
                        "y": 6485.72216796875,
                        "z": 363.5348205566406
                    },
                    "rotation": {
                        "roll": -0.0012817379320040345,
                        "pitch": 0.8776587843894958,
                        "yaw": -179.5612030029297
                    }
                },
                "velocity": {
                    "x": -9.414459228515625,
                    "y": -0.07215557247400284,
                    "z": 0.14831413328647614
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.595159530639648,
                "transform": {
                    "location": {
                        "x": -943.36083984375,
                        "y": 6485.97216796875,
                        "z": 363.0662536621094
                    },
                    "rotation": {
                        "roll": -0.0429992638528347,
                        "pitch": 0.8691551685333252,
                        "yaw": -179.55795288085938
                    }
                },
                "velocity": {
                    "x": -9.593826293945312,
                    "y": -0.07188188284635544,
                    "z": 0.14289700984954834
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -878.6124267578125,
                        "y": 6493.46240234375,
                        "z": 361.765380859375
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -842.7603759765625,
                        "y": 6486.7333984375,
                        "z": 361.0276794433594
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33587,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -862.340087890625,
                        "y": 6490.08544921875,
                        "z": 361.3865051269531
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -883.7012939453125,
                        "y": 6486.423828125,
                        "z": 361.8799133300781
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33584,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -878.1690673828125,
                        "y": 6489.96630859375,
                        "z": 361.7558898925781
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1227.224365234375,
                        "y": 6470.93798828125,
                        "z": 371.462890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1208.402587890625,
                        "y": 6472.92529296875,
                        "z": 370.9676208496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1188.450927734375,
                        "y": 6475.0322265625,
                        "z": 370.3969421386719
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.5728759765625,
                        "y": 6477.2373046875,
                        "z": 369.74810791015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1136.6427001953125,
                        "y": 6480.47412109375,
                        "z": 368.67889404296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1113.7576904296875,
                        "y": 6482.45166015625,
                        "z": 367.8408508300781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1093.7589111328125,
                        "y": 6483.7421875,
                        "z": 367.08233642578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1068.833740234375,
                        "y": 6484.7880859375,
                        "z": 366.1291809082031
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1035.5174560546875,
                        "y": 6485.27197265625,
                        "z": 364.8045349121094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.6508207321167,
                "transform": {
                    "location": {
                        "x": -997.4140625,
                        "y": 6485.56103515625,
                        "z": 363.8658752441406
                    },
                    "rotation": {
                        "roll": 3.032201675523538e-05,
                        "pitch": 0.9167820811271667,
                        "yaw": -179.5562744140625
                    }
                },
                "velocity": {
                    "x": -9.649374008178711,
                    "y": -0.07281793653964996,
                    "z": 0.15041318535804749
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -864.8963623046875,
                        "y": 6486.5654296875,
                        "z": 361.4465637207031
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33586,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -862.783203125,
                        "y": 6493.58154296875,
                        "z": 361.3961181640625
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2643073499202728,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            8.813451414947194,
            -0.32969371422423754
        ],
        "target_point_next": [
            14.823058084880833,
            -3.813358471316463
        ]
    },
    "580": {
        "acceleration": [
            1.078042984008789,
            0.11904619634151459,
            -0.01307263970375061
        ],
        "angular_velocity": [
            0.09948388487100601,
            0.06478511542081833,
            -3.501682758331299
        ],
        "forward_vector": [
            -0.9998981356620789,
            -0.0038957716897130013,
            0.013732478022575378
        ],
        "right_vector": [
            0.0038943197578191757,
            -0.9999924302101135,
            -0.00013247008610051125
        ],
        "location": [
            -966.6788330078125,
            6481.94677734375,
            363.3852233886719
        ],
        "rotation": [
            0.007590692490339279,
            0.7868377566337585,
            -179.77676391601562
        ],
        "velocity": [
            -7.633110046386719,
            -0.020522065460681915,
            0.12161876261234283
        ],
        "speed": 7.633137633727078,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.499586651412236,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.608719825744629,
                "transform": {
                    "location": {
                        "x": -903.5715942382812,
                        "y": 6486.27294921875,
                        "z": 362.2869567871094
                    },
                    "rotation": {
                        "roll": -0.00015258765779435635,
                        "pitch": 1.1404707431793213,
                        "yaw": -179.57652282714844
                    }
                },
                "velocity": {
                    "x": -9.606537818908691,
                    "y": -0.07107681781053543,
                    "z": 0.19204078614711761
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -896.4877319335938,
                        "y": 6493.32666015625,
                        "z": 362.1502990722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -895.8363037109375,
                        "y": 6489.83154296875,
                        "z": 362.1374816894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.6218900680542,
                "transform": {
                    "location": {
                        "x": -978.415283203125,
                        "y": 6485.7041015625,
                        "z": 363.5718688964844
                    },
                    "rotation": {
                        "roll": -0.0008544922457076609,
                        "pitch": 0.9210987687110901,
                        "yaw": -179.56076049804688
                    }
                },
                "velocity": {
                    "x": -9.620438575744629,
                    "y": -0.07363363355398178,
                    "z": 0.1500248908996582
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.621506690979004,
                "transform": {
                    "location": {
                        "x": -945.7626953125,
                        "y": 6485.9541015625,
                        "z": 363.1026611328125
                    },
                    "rotation": {
                        "roll": 0.03040604293346405,
                        "pitch": 0.8805001378059387,
                        "yaw": -179.54986572265625
                    }
                },
                "velocity": {
                    "x": -9.62009334564209,
                    "y": -0.07552558928728104,
                    "z": 0.1465785950422287
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -880.6951293945312,
                        "y": 6493.44677734375,
                        "z": 361.8121337890625
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -845.2403564453125,
                        "y": 6486.71435546875,
                        "z": 361.0606689453125
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33587,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -864.4227905273438,
                        "y": 6490.06982421875,
                        "z": 361.4344787597656
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -886.1025390625,
                        "y": 6486.4052734375,
                        "z": 361.93212890625
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33584,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -880.2517700195312,
                        "y": 6489.94970703125,
                        "z": 361.8028869628906
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1229.709716796875,
                        "y": 6470.67529296875,
                        "z": 371.5248107910156
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1210.887939453125,
                        "y": 6472.6630859375,
                        "z": 371.03546142578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1190.936279296875,
                        "y": 6474.77001953125,
                        "z": 370.47021484375
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.0576171875,
                        "y": 6476.9755859375,
                        "z": 369.8280334472656
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1139.12841796875,
                        "y": 6480.2255859375,
                        "z": 368.7687683105469
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1116.24853515625,
                        "y": 6482.26123046875,
                        "z": 367.9348449707031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1096.2528076171875,
                        "y": 6483.6025390625,
                        "z": 367.1769714355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1071.3306884765625,
                        "y": 6484.7099609375,
                        "z": 366.2274475097656
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1038.015625,
                        "y": 6485.2529296875,
                        "z": 364.89154052734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.649301528930664,
                "transform": {
                    "location": {
                        "x": -999.8264770507812,
                        "y": 6485.54248046875,
                        "z": 363.9042053222656
                    },
                    "rotation": {
                        "roll": -0.0015563960187137127,
                        "pitch": 0.9426548480987549,
                        "yaw": -179.57310485839844
                    }
                },
                "velocity": {
                    "x": -9.647705078125,
                    "y": -0.0737336203455925,
                    "z": 0.1592472791671753
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -867.297607421875,
                        "y": 6486.5478515625,
                        "z": 361.50384521484375
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33586,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -864.8659057617188,
                        "y": 6493.56591796875,
                        "z": 361.44451904296875
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.27835792303085327,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            12.884705256901716,
            -3.8002307296520925
        ],
        "target_point_next": [
            63.88423799469678,
            -3.6122168948083546
        ]
    },
    "585": {
        "acceleration": [
            1.0767555236816406,
            0.48448890447616577,
            -0.026253461837768555
        ],
        "angular_velocity": [
            0.3521275520324707,
            0.011176600120961666,
            0.42335259914398193
        ],
        "forward_vector": [
            -0.9999012351036072,
            0.0019271004712209105,
            0.013922002166509628
        ],
        "right_vector": [
            -0.0019433586858212948,
            -0.9999974370002747,
            -0.0011543750297278166
        ],
        "location": [
            -968.5533447265625,
            6481.94970703125,
            363.4146728515625
        ],
        "rotation": [
            0.06614723801612854,
            0.7976977229118347,
            179.8895721435547
        ],
        "velocity": [
            -7.371776580810547,
            0.060421619564294815,
            0.11684749275445938
        ],
        "speed": 7.372024194852972,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.4998450616105026,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.596478462219238,
                "transform": {
                    "location": {
                        "x": -905.9735717773438,
                        "y": 6486.251953125,
                        "z": 362.3538513183594
                    },
                    "rotation": {
                        "roll": -0.8648986220359802,
                        "pitch": 1.97365140914917,
                        "yaw": -179.57281494140625
                    }
                },
                "velocity": {
                    "x": -9.59292221069336,
                    "y": -0.04309768229722977,
                    "z": 0.25767555832862854
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -898.570556640625,
                        "y": 6493.31103515625,
                        "z": 362.1929626464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -897.9191284179688,
                        "y": 6489.81591796875,
                        "z": 362.1802673339844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.475003242492676,
                "transform": {
                    "location": {
                        "x": -980.8225708007812,
                        "y": 6485.68603515625,
                        "z": 363.60943603515625
                    },
                    "rotation": {
                        "roll": -0.0009765621507540345,
                        "pitch": 0.8897891640663147,
                        "yaw": -179.56016540527344
                    }
                },
                "velocity": {
                    "x": -9.473543167114258,
                    "y": -0.0727224349975586,
                    "z": 0.1496250480413437
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.596244812011719,
                "transform": {
                    "location": {
                        "x": -948.1644287109375,
                        "y": 6485.935546875,
                        "z": 363.1390075683594
                    },
                    "rotation": {
                        "roll": 0.05856320634484291,
                        "pitch": 0.860487699508667,
                        "yaw": -179.5386505126953
                    }
                },
                "velocity": {
                    "x": -9.594855308532715,
                    "y": -0.077473945915699,
                    "z": 0.1437252163887024
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -882.7779541015625,
                        "y": 6493.4306640625,
                        "z": 361.8581848144531
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -847.739990234375,
                        "y": 6486.69482421875,
                        "z": 361.0987854003906
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33587,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -866.5055541992188,
                        "y": 6490.05419921875,
                        "z": 361.4842224121094
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -888.5001220703125,
                        "y": 6486.38720703125,
                        "z": 361.98394775390625
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33584,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -882.3345947265625,
                        "y": 6489.93408203125,
                        "z": 361.8489685058594
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1232.195068359375,
                        "y": 6470.41259765625,
                        "z": 371.5865173339844
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1213.373291015625,
                        "y": 6472.400390625,
                        "z": 371.1024475097656
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1193.421630859375,
                        "y": 6474.50732421875,
                        "z": 370.54302978515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1172.5423583984375,
                        "y": 6476.712890625,
                        "z": 369.9078674316406
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.6141357421875,
                        "y": 6479.97314453125,
                        "z": 368.8589782714844
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1118.7391357421875,
                        "y": 6482.0673828125,
                        "z": 368.0280456542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1098.7464599609375,
                        "y": 6483.45849609375,
                        "z": 367.271484375
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1073.82763671875,
                        "y": 6484.62841796875,
                        "z": 366.32537841796875
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1040.5137939453125,
                        "y": 6485.2333984375,
                        "z": 364.9835510253906
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.648834228515625,
                "transform": {
                    "location": {
                        "x": -1002.2389526367188,
                        "y": 6485.5244140625,
                        "z": 363.94427490234375
                    },
                    "rotation": {
                        "roll": 0.0005102550494484603,
                        "pitch": 1.015252947807312,
                        "yaw": -179.55807495117188
                    }
                },
                "velocity": {
                    "x": -9.64714241027832,
                    "y": -0.0725887343287468,
                    "z": 0.1654324233531952
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -869.7575073242188,
                        "y": 6486.529296875,
                        "z": 361.5625
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33586,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -866.94873046875,
                        "y": 6493.55029296875,
                        "z": 361.49420166015625
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.25709760189056396,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            11.03210382994248,
            -3.725814367545917
        ],
        "target_point_next": [
            62.029676845919404,
            -3.2408038979423055
        ]
    },
    "590": {
        "acceleration": [
            1.4321041107177734,
            0.5913853645324707,
            -0.05043938755989075
        ],
        "angular_velocity": [
            0.04895372316241264,
            -0.06548275053501129,
            -7.703794002532959
        ],
        "forward_vector": [
            -0.9997155666351318,
            0.019422221928834915,
            0.01384047046303749
        ],
        "right_vector": [
            -0.01945940963923931,
            -0.9998073577880859,
            -0.0025572380982339382
        ],
        "location": [
            -970.3587036132812,
            6481.982421875,
            363.4432373046875
        ],
        "rotation": [
            0.14653314650058746,
            0.7930259108543396,
            178.8870086669922
        ],
        "velocity": [
            -7.065038204193115,
            0.2160109281539917,
            0.11133886128664017
        ],
        "speed": 7.068339659905304,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.4999768869067314,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.603021621704102,
                "transform": {
                    "location": {
                        "x": -908.367919921875,
                        "y": 6486.23876953125,
                        "z": 362.4205322265625
                    },
                    "rotation": {
                        "roll": -1.193603754043579,
                        "pitch": 1.3118674755096436,
                        "yaw": -179.67669677734375
                    }
                },
                "velocity": {
                    "x": -9.599851608276367,
                    "y": -0.032118864357471466,
                    "z": 0.24463090300559998
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.608077049255371,
                "transform": {
                    "location": {
                        "x": -983.1937866210938,
                        "y": 6485.66748046875,
                        "z": 363.6466979980469
                    },
                    "rotation": {
                        "roll": 0.0009848414920270443,
                        "pitch": 0.9158121943473816,
                        "yaw": -179.5623016357422
                    }
                },
                "velocity": {
                    "x": -9.60662841796875,
                    "y": -0.0724380686879158,
                    "z": 0.15030641853809357
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.620757102966309,
                "transform": {
                    "location": {
                        "x": -950.5662841796875,
                        "y": 6485.916015625,
                        "z": 363.1750183105469
                    },
                    "rotation": {
                        "roll": 0.05513082817196846,
                        "pitch": 0.8678301572799683,
                        "yaw": -179.5450439453125
                    }
                },
                "velocity": {
                    "x": -9.619383811950684,
                    "y": -0.07679972797632217,
                    "z": 0.14324352145195007
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -884.8607788085938,
                        "y": 6493.4150390625,
                        "z": 361.904296875
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -850.2194213867188,
                        "y": 6486.67626953125,
                        "z": 361.13861083984375
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33587,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -868.5882568359375,
                        "y": 6490.03857421875,
                        "z": 361.5340270996094
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -890.8988647460938,
                        "y": 6486.369140625,
                        "z": 362.0347900390625
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33584,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -884.4174194335938,
                        "y": 6489.91845703125,
                        "z": 361.8951721191406
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1234.680419921875,
                        "y": 6470.150390625,
                        "z": 371.6468811035156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1215.858642578125,
                        "y": 6472.13818359375,
                        "z": 371.1687927246094
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1195.906982421875,
                        "y": 6474.24560546875,
                        "z": 370.61529541015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1175.027099609375,
                        "y": 6476.44970703125,
                        "z": 369.9862060546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1144.09912109375,
                        "y": 6479.71435546875,
                        "z": 368.9479064941406
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1121.2293701171875,
                        "y": 6481.8642578125,
                        "z": 368.1198425292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1101.23974609375,
                        "y": 6483.306640625,
                        "z": 367.3661193847656
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1076.323974609375,
                        "y": 6484.5380859375,
                        "z": 366.42095947265625
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1043.0118408203125,
                        "y": 6485.21533203125,
                        "z": 365.0776062011719
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.649201393127441,
                "transform": {
                    "location": {
                        "x": -1004.6508178710938,
                        "y": 6485.50634765625,
                        "z": 363.9862060546875
                    },
                    "rotation": {
                        "roll": -0.00042724606464616954,
                        "pitch": 1.0151573419570923,
                        "yaw": -179.58473205566406
                    }
                },
                "velocity": {
                    "x": -9.647459030151367,
                    "y": -0.07176531106233597,
                    "z": 0.16870777308940887
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -872.1557006835938,
                        "y": 6486.51123046875,
                        "z": 361.6183776855469
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33586,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -869.0315551757812,
                        "y": 6493.53466796875,
                        "z": 361.54400634765625
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.179058238863945,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            9.289952265194712,
            -3.5345728192703123
        ],
        "target_point_next": [
            60.27123195916081,
            -2.1573257676764284
        ]
    },
    "595": {
        "acceleration": [
            1.9612979888916016,
            0.8377289772033691,
            -0.03621518611907959
        ],
        "angular_velocity": [
            0.29387515783309937,
            -0.22131898999214172,
            -3.1451337337493896
        ],
        "forward_vector": [
            -0.9990254640579224,
            0.0421619676053524,
            0.013057098723948002
        ],
        "right_vector": [
            -0.04220909997820854,
            -0.9991031885147095,
            -0.0033551810774952173
        ],
        "location": [
            -972.0685424804688,
            6482.05419921875,
            363.4701843261719
        ],
        "rotation": [
            0.1922544538974762,
            0.748137891292572,
            177.5833740234375
        ],
        "velocity": [
            -6.615602970123291,
            0.39513614773750305,
            0.10389938205480576
        ],
        "speed": 6.627392793063721,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.610076904296875,
                "transform": {
                    "location": {
                        "x": -910.7679443359375,
                        "y": 6486.23095703125,
                        "z": 362.47283935546875
                    },
                    "rotation": {
                        "roll": -1.36968994140625,
                        "pitch": 1.0652294158935547,
                        "yaw": -179.6212615966797
                    }
                },
                "velocity": {
                    "x": -9.608368873596191,
                    "y": -0.03082331083714962,
                    "z": 0.17849528789520264
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -831.3025512695312,
                        "y": 6486.81982421875,
                        "z": 361.0330505371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.510171890258789,
                "transform": {
                    "location": {
                        "x": -985.6051635742188,
                        "y": 6485.6494140625,
                        "z": 363.6843566894531
                    },
                    "rotation": {
                        "roll": 0.0006579820183105767,
                        "pitch": 0.8948503732681274,
                        "yaw": -179.56602478027344
                    }
                },
                "velocity": {
                    "x": -9.508731842041016,
                    "y": -0.07125954329967499,
                    "z": 0.1493685245513916
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.595253944396973,
                "transform": {
                    "location": {
                        "x": -952.9678955078125,
                        "y": 6485.8974609375,
                        "z": 363.2113952636719
                    },
                    "rotation": {
                        "roll": 0.04735468700528145,
                        "pitch": 0.8769620656967163,
                        "yaw": -179.55416870117188
                    }
                },
                "velocity": {
                    "x": -9.593847274780273,
                    "y": -0.0753050222992897,
                    "z": 0.14600086212158203
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -886.943603515625,
                        "y": 6493.3984375,
                        "z": 361.94927978515625
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -852.6986694335938,
                        "y": 6486.658203125,
                        "z": 361.1832275390625
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33587,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -870.6710205078125,
                        "y": 6490.0224609375,
                        "z": 361.58319091796875
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -893.3004760742188,
                        "y": 6486.3505859375,
                        "z": 362.08538818359375
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33584,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -886.500244140625,
                        "y": 6489.90234375,
                        "z": 361.9402770996094
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.165771484375,
                        "y": 6469.88720703125,
                        "z": 371.7071533203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1218.343994140625,
                        "y": 6471.8759765625,
                        "z": 371.23443603515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1198.392333984375,
                        "y": 6473.982421875,
                        "z": 370.6868591308594
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1177.5120849609375,
                        "y": 6476.1875,
                        "z": 370.0643615722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1146.583740234375,
                        "y": 6479.453125,
                        "z": 369.0364685058594
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1123.71923828125,
                        "y": 6481.65673828125,
                        "z": 368.2109680175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1103.732666015625,
                        "y": 6483.14990234375,
                        "z": 367.4605712890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1078.8203125,
                        "y": 6484.4423828125,
                        "z": 366.51611328125
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1045.510009765625,
                        "y": 6485.1953125,
                        "z": 365.1762390136719
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.646282196044922,
                "transform": {
                    "location": {
                        "x": -1007.0634155273438,
                        "y": 6485.48779296875,
                        "z": 364.03125
                    },
                    "rotation": {
                        "roll": -0.0012512204702943563,
                        "pitch": 1.155476689338684,
                        "yaw": -179.56011962890625
                    }
                },
                "velocity": {
                    "x": -9.644227027893066,
                    "y": -0.0733894556760788,
                    "z": 0.18510037660598755
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -874.6150512695312,
                        "y": 6486.4921875,
                        "z": 361.6755676269531
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33586,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -871.1143798828125,
                        "y": 6493.5185546875,
                        "z": 361.5928955078125
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6631879806518555,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            7.656615758109062,
            -3.3226907102715417
        ],
        "target_point_next": [
            58.59336755773904,
            -0.7859595896331468
        ]
    },
    "600": {
        "acceleration": [
            2.008523941040039,
            0.9386789798736572,
            -0.05625724792480469
        ],
        "angular_velocity": [
            0.011739307083189487,
            -0.08014795929193497,
            -12.172307014465332
        ],
        "forward_vector": [
            -0.9969621300697327,
            0.07689286768436432,
            0.01241175178438425
        ],
        "right_vector": [
            -0.07695404440164566,
            -0.9970243573188782,
            -0.004528300371021032
        ],
        "location": [
            -973.6571655273438,
            6482.17822265625,
            363.4952392578125
        ],
        "rotation": [
            0.25947335362434387,
            0.7111592292785645,
            175.5896759033203
        ],
        "velocity": [
            -6.112349033355713,
            0.6390520334243774,
            0.0951060876250267
        ],
        "speed": 6.145664993065303,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.627483367919922,
                "transform": {
                    "location": {
                        "x": -913.1688232421875,
                        "y": 6486.22607421875,
                        "z": 362.5043640136719
                    },
                    "rotation": {
                        "roll": -0.4217224419116974,
                        "pitch": 0.5221952795982361,
                        "yaw": -179.48988342285156
                    }
                },
                "velocity": {
                    "x": -9.627059936523438,
                    "y": -0.07721289247274399,
                    "z": 0.04679124802350998
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -833.8011474609375,
                        "y": 6486.8017578125,
                        "z": 360.95623779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.534899711608887,
                "transform": {
                    "location": {
                        "x": -987.9620971679688,
                        "y": 6485.63134765625,
                        "z": 363.7213439941406
                    },
                    "rotation": {
                        "roll": -6.103491614339873e-05,
                        "pitch": 0.9050819873809814,
                        "yaw": -179.5711212158203
                    }
                },
                "velocity": {
                    "x": -9.53348159790039,
                    "y": -0.07046117633581161,
                    "z": 0.14859165251255035
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.621633529663086,
                "transform": {
                    "location": {
                        "x": -955.3698120117188,
                        "y": 6485.87841796875,
                        "z": 363.2481994628906
                    },
                    "rotation": {
                        "roll": 0.03976207971572876,
                        "pitch": 0.8853427171707153,
                        "yaw": -179.55978393554688
                    }
                },
                "velocity": {
                    "x": -9.620219230651855,
                    "y": -0.07432928681373596,
                    "z": 0.1472797393798828
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -889.0263061523438,
                        "y": 6493.3828125,
                        "z": 361.99420166015625
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -855.1788940429688,
                        "y": 6486.6396484375,
                        "z": 361.22991943359375
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33587,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -872.7537231445312,
                        "y": 6490.0068359375,
                        "z": 361.6317138671875
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -895.7036743164062,
                        "y": 6486.3330078125,
                        "z": 362.1353454589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33584,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -888.5829467773438,
                        "y": 6489.88671875,
                        "z": 361.9852294921875
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1239.651123046875,
                        "y": 6469.625,
                        "z": 371.7663269042969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1220.829345703125,
                        "y": 6471.61376953125,
                        "z": 371.2992858886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1200.877685546875,
                        "y": 6473.7197265625,
                        "z": 370.7576904296875
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1179.9971923828125,
                        "y": 6475.9248046875,
                        "z": 370.1410827636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.0684814453125,
                        "y": 6479.19091796875,
                        "z": 369.1236572265625
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1126.208251953125,
                        "y": 6481.44091796875,
                        "z": 368.3011169433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1106.2247314453125,
                        "y": 6482.98486328125,
                        "z": 367.5551452636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1081.3165283203125,
                        "y": 6484.33984375,
                        "z": 366.61083984375
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1048.0081787109375,
                        "y": 6485.1767578125,
                        "z": 365.27691650390625
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.645915031433105,
                "transform": {
                    "location": {
                        "x": -1009.4747314453125,
                        "y": 6485.4697265625,
                        "z": 364.0798034667969
                    },
                    "rotation": {
                        "roll": 0.0008496779482811689,
                        "pitch": 1.2060679197311401,
                        "yaw": -179.57958984375
                    }
                },
                "velocity": {
                    "x": -9.6436128616333,
                    "y": -0.07087022066116333,
                    "z": 0.1984441578388214
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -877.0177001953125,
                        "y": 6486.47412109375,
                        "z": 361.7301940917969
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33586,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -873.1970825195312,
                        "y": 6493.5029296875,
                        "z": 361.6414489746094
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9990997314453125,
        "expert_target_speed": 20.0,
        "target_point": [
            56.99178543906593,
            1.2544551075967405
        ],
        "target_point_next": [
            108.44040434797749,
            6.230877654828509
        ]
    },
    "605": {
        "acceleration": [
            1.9204425811767578,
            0.7778263092041016,
            -0.05224451422691345
        ],
        "angular_velocity": [
            -0.05493064597249031,
            -0.0016794727416709065,
            -6.002054214477539
        ],
        "forward_vector": [
            -0.9931447505950928,
            0.11625099927186966,
            0.01220970693975687
        ],
        "right_vector": [
            -0.1163109838962555,
            -0.9932034015655518,
            -0.004320754203945398
        ],
        "location": [
            -975.1212768554688,
            6482.357421875,
            363.51812744140625
        ],
        "rotation": [
            0.24758023023605347,
            0.6995820999145508,
            173.32371520996094
        ],
        "velocity": [
            -5.620718955993652,
            0.8461229801177979,
            0.08786164969205856
        ],
        "speed": 5.684048353044667,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.594121932983398,
                "transform": {
                    "location": {
                        "x": -915.571044921875,
                        "y": 6486.20947265625,
                        "z": 362.5544738769531
                    },
                    "rotation": {
                        "roll": -0.7701109647750854,
                        "pitch": 1.3303295373916626,
                        "yaw": -179.25978088378906
                    }
                },
                "velocity": {
                    "x": -9.593082427978516,
                    "y": -0.06943630427122116,
                    "z": 0.12296092510223389
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33589,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -859.45068359375,
                        "y": 6493.607421875,
                        "z": 361.31964111328125
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -836.3005981445312,
                        "y": 6486.7822265625,
                        "z": 360.95843505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.647679328918457,
                "transform": {
                    "location": {
                        "x": -990.3800659179688,
                        "y": 6485.61279296875,
                        "z": 363.7591857910156
                    },
                    "rotation": {
                        "roll": -0.0007934567402116954,
                        "pitch": 0.9179500341415405,
                        "yaw": -179.571533203125
                    }
                },
                "velocity": {
                    "x": -9.64625072479248,
                    "y": -0.07206892967224121,
                    "z": 0.14952924847602844
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.594949722290039,
                "transform": {
                    "location": {
                        "x": -957.7713623046875,
                        "y": 6485.8603515625,
                        "z": 363.28515625
                    },
                    "rotation": {
                        "roll": 0.037751585245132446,
                        "pitch": 0.8914625644683838,
                        "yaw": -179.56637573242188
                    }
                },
                "velocity": {
                    "x": -9.593517303466797,
                    "y": -0.07155904918909073,
                    "z": 0.14955849945545197
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -891.109130859375,
                        "y": 6493.3671875,
                        "z": 362.0382995605469
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -857.6590576171875,
                        "y": 6486.62060546875,
                        "z": 361.28131103515625
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33587,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -874.8365478515625,
                        "y": 6489.9912109375,
                        "z": 361.6801452636719
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -898.1016845703125,
                        "y": 6486.314453125,
                        "z": 362.1845703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33584,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -890.665771484375,
                        "y": 6489.87109375,
                        "z": 362.0295715332031
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33590,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -859.0248413085938,
                        "y": 6490.111328125,
                        "z": 361.43865966796875
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1242.136474609375,
                        "y": 6469.3623046875,
                        "z": 371.82550048828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1223.314697265625,
                        "y": 6471.3505859375,
                        "z": 371.3634033203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1203.363037109375,
                        "y": 6473.45751953125,
                        "z": 370.8277587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1182.482421875,
                        "y": 6475.6630859375,
                        "z": 370.2175598144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.55322265625,
                        "y": 6478.9287109375,
                        "z": 369.2102966308594
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1128.6968994140625,
                        "y": 6481.22314453125,
                        "z": 368.39111328125
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1108.716552734375,
                        "y": 6482.8154296875,
                        "z": 367.64959716796875
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1083.8125,
                        "y": 6484.234375,
                        "z": 366.7054138183594
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1050.505859375,
                        "y": 6485.150390625,
                        "z": 365.3791198730469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.643509864807129,
                "transform": {
                    "location": {
                        "x": -1011.8860473632812,
                        "y": 6485.451171875,
                        "z": 364.1309814453125
                    },
                    "rotation": {
                        "roll": -0.00024414058134425431,
                        "pitch": 1.2673414945602417,
                        "yaw": -179.55352783203125
                    }
                },
                "velocity": {
                    "x": -9.640833854675293,
                    "y": -0.07323404401540756,
                    "z": 0.2150181084871292
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -879.4172973632812,
                        "y": 6486.4560546875,
                        "z": 361.78466796875
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33586,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -875.2799072265625,
                        "y": 6493.4873046875,
                        "z": 361.6896057128906
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9990133047103882,
        "expert_target_speed": 20.0,
        "target_point": [
            55.422606145038735,
            3.514587987430659
        ],
        "target_point_next": [
            106.63423729557853,
            10.521299334708479
        ]
    },
    "610": {
        "acceleration": [
            1.5151596069335938,
            0.5084323883056641,
            -0.030800551176071167
        ],
        "angular_velocity": [
            -0.43266525864601135,
            0.17643149197101593,
            -12.177963256835938
        ],
        "forward_vector": [
            -0.9876120686531067,
            0.15642742812633514,
            0.012368840165436268
        ],
        "right_vector": [
            -0.15647798776626587,
            -0.987676203250885,
            -0.0032250862568616867
        ],
        "location": [
            -976.4696044921875,
            6482.58154296875,
            363.5391845703125
        ],
        "rotation": [
            0.18479828536510468,
            0.70870041847229,
            170.9997100830078
        ],
        "velocity": [
            -5.190712928771973,
            1.003835678100586,
            0.08179368823766708
        ],
        "speed": 5.28688819415998,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.60306453704834,
                "transform": {
                    "location": {
                        "x": -917.9686279296875,
                        "y": 6486.18798828125,
                        "z": 362.60540771484375
                    },
                    "rotation": {
                        "roll": -1.1346126794815063,
                        "pitch": 1.1531953811645508,
                        "yaw": -179.31124877929688
                    }
                },
                "velocity": {
                    "x": -9.600439071655273,
                    "y": -0.06853822618722916,
                    "z": 0.2137913852930069
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33589,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -861.5335083007812,
                        "y": 6493.591796875,
                        "z": 361.3673095703125
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -838.8002319335938,
                        "y": 6486.76416015625,
                        "z": 360.98065185546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.552802085876465,
                "transform": {
                    "location": {
                        "x": -992.7674560546875,
                        "y": 6485.595703125,
                        "z": 363.7965087890625
                    },
                    "rotation": {
                        "roll": 0.00029318747692741454,
                        "pitch": 0.8967491388320923,
                        "yaw": -179.57598876953125
                    }
                },
                "velocity": {
                    "x": -9.55135440826416,
                    "y": -0.07077634334564209,
                    "z": 0.15044914186000824
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.621180534362793,
                "transform": {
                    "location": {
                        "x": -960.1732788085938,
                        "y": 6485.84228515625,
                        "z": 363.3224182128906
                    },
                    "rotation": {
                        "roll": 0.028852231800556183,
                        "pitch": 0.8970360159873962,
                        "yaw": -179.57398986816406
                    }
                },
                "velocity": {
                    "x": -9.619739532470703,
                    "y": -0.0719490796327591,
                    "z": 0.15016338229179382
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -893.1919555664062,
                        "y": 6493.3515625,
                        "z": 362.0820617675781
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -860.1375732421875,
                        "y": 6486.6015625,
                        "z": 361.3347473144531
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33587,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -876.9193725585938,
                        "y": 6489.9755859375,
                        "z": 361.7274475097656
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -900.4998779296875,
                        "y": 6486.2958984375,
                        "z": 362.23272705078125
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33584,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -892.7485961914062,
                        "y": 6489.85546875,
                        "z": 362.07330322265625
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33590,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -861.0903930664062,
                        "y": 6490.0947265625,
                        "z": 361.3576965332031
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1244.621826171875,
                        "y": 6469.1005859375,
                        "z": 371.884521484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1225.800048828125,
                        "y": 6471.087890625,
                        "z": 371.42669677734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1205.848388671875,
                        "y": 6473.19482421875,
                        "z": 370.8971252441406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1184.9676513671875,
                        "y": 6475.400390625,
                        "z": 370.2925720214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.0379638671875,
                        "y": 6478.666015625,
                        "z": 369.2957763671875
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1131.1846923828125,
                        "y": 6480.994140625,
                        "z": 368.4812316894531
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1111.2078857421875,
                        "y": 6482.63720703125,
                        "z": 367.7442626953125
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1086.3082275390625,
                        "y": 6484.11865234375,
                        "z": 366.8000793457031
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1053.0032958984375,
                        "y": 6485.12255859375,
                        "z": 365.4820251464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.642831802368164,
                "transform": {
                    "location": {
                        "x": -1014.2973022460938,
                        "y": 6485.43310546875,
                        "z": 364.1853332519531
                    },
                    "rotation": {
                        "roll": 0.0013360510347411036,
                        "pitch": 1.3921085596084595,
                        "yaw": -179.57693481445312
                    }
                },
                "velocity": {
                    "x": -9.639883041381836,
                    "y": -0.07205641269683838,
                    "z": 0.22729657590389252
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -881.8151245117188,
                        "y": 6486.4375,
                        "z": 361.8379211425781
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33586,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -877.3627319335938,
                        "y": 6493.4716796875,
                        "z": 361.7369384765625
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0002206563949585,
        "expert_target_speed": 20.0,
        "target_point": [
            53.86771409445929,
            5.76954490297274
        ],
        "target_point_next": [
            104.75309703272964,
            14.847153190875154
        ]
    },
    "615": {
        "acceleration": [
            0.8573055267333984,
            0.48132896423339844,
            -0.02632439136505127
        ],
        "angular_velocity": [
            -0.17386813461780548,
            0.24121275544166565,
            -3.927128791809082
        ],
        "forward_vector": [
            -0.9817457795143127,
            0.18974794447422028,
            0.013072117231786251
        ],
        "right_vector": [
            -0.1897844672203064,
            -0.9818243980407715,
            -0.0016016840236261487
        ],
        "location": [
            -977.7289428710938,
            6482.83837890625,
            363.5587158203125
        ],
        "rotation": [
            0.09177762269973755,
            0.7489985227584839,
            169.06097412109375
        ],
        "velocity": [
            -4.909372329711914,
            1.1137717962265015,
            0.07678045332431793
        ],
        "speed": 5.0341259703955155,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.6150541305542,
                "transform": {
                    "location": {
                        "x": -920.3709106445312,
                        "y": 6486.1708984375,
                        "z": 362.6535339355469
                    },
                    "rotation": {
                        "roll": -1.0663145780563354,
                        "pitch": 1.1280193328857422,
                        "yaw": -179.3489532470703
                    }
                },
                "velocity": {
                    "x": -9.613044738769531,
                    "y": -0.06722258776426315,
                    "z": 0.18468762934207916
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33589,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -863.6163330078125,
                        "y": 6493.57568359375,
                        "z": 361.4153137207031
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -841.2998046875,
                        "y": 6486.744140625,
                        "z": 361.0093994140625
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.669256210327148,
                "transform": {
                    "location": {
                        "x": -995.1742553710938,
                        "y": 6485.5771484375,
                        "z": 363.8342590332031
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": 0.9173967838287354,
                        "yaw": -179.5672149658203
                    }
                },
                "velocity": {
                    "x": -9.667814254760742,
                    "y": -0.07285725325345993,
                    "z": 0.1502714306116104
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.59446907043457,
                "transform": {
                    "location": {
                        "x": -962.5746459960938,
                        "y": 6485.82470703125,
                        "z": 363.3595275878906
                    },
                    "rotation": {
                        "roll": 0.017816459760069847,
                        "pitch": 0.8825696706771851,
                        "yaw": -179.57568359375
                    }
                },
                "velocity": {
                    "x": -9.59302806854248,
                    "y": -0.07166478782892227,
                    "z": 0.15006618201732635
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -895.274658203125,
                        "y": 6493.3359375,
                        "z": 362.12548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -862.616455078125,
                        "y": 6486.58251953125,
                        "z": 361.3927917480469
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33587,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -879.002197265625,
                        "y": 6489.9599609375,
                        "z": 361.77484130859375
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -902.9017944335938,
                        "y": 6486.27783203125,
                        "z": 362.2808532714844
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33584,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -894.831298828125,
                        "y": 6489.83935546875,
                        "z": 362.1169738769531
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33590,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -863.173095703125,
                        "y": 6490.0791015625,
                        "z": 361.40570068359375
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1247.107177734375,
                        "y": 6468.837890625,
                        "z": 371.94354248046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1228.285400390625,
                        "y": 6470.82470703125,
                        "z": 371.48931884765625
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1208.333740234375,
                        "y": 6472.93310546875,
                        "z": 370.9656677246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1187.4530029296875,
                        "y": 6475.13818359375,
                        "z": 370.3674011230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.522705078125,
                        "y": 6478.40380859375,
                        "z": 369.3807678222656
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1133.6722412109375,
                        "y": 6480.76220703125,
                        "z": 368.5711975097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1113.6990966796875,
                        "y": 6482.4560546875,
                        "z": 367.838623046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1088.8035888671875,
                        "y": 6484.0,
                        "z": 366.8945617675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1055.5008544921875,
                        "y": 6485.08349609375,
                        "z": 365.584716796875
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.642170906066895,
                "transform": {
                    "location": {
                        "x": -1016.7073974609375,
                        "y": 6485.4150390625,
                        "z": 364.242919921875
                    },
                    "rotation": {
                        "roll": 0.002278790110722184,
                        "pitch": 1.3934950828552246,
                        "yaw": -179.56576538085938
                    }
                },
                "velocity": {
                    "x": -9.638999938964844,
                    "y": -0.07129030674695969,
                    "z": 0.23677460849285126
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -884.2163696289062,
                        "y": 6486.419921875,
                        "z": 361.8912658691406
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33586,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -879.445556640625,
                        "y": 6493.4560546875,
                        "z": 361.7843322753906
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9997566938400269,
        "expert_target_speed": 20.0,
        "target_point": [
            52.35649598221345,
            7.601825517194557
        ],
        "target_point_next": [
            102.90564742048352,
            18.395733885985216
        ]
    },
    "620": {
        "acceleration": [
            -2.725677490234375,
            0.4315304756164551,
            0.04589170217514038
        ],
        "angular_velocity": [
            -0.5448941588401794,
            0.8365035057067871,
            -3.755070924758911
        ],
        "forward_vector": [
            -0.9766427278518677,
            0.21433313190937042,
            0.015173805877566338
        ],
        "right_vector": [
            -0.21435095369815826,
            -0.9767565727233887,
            0.00046120648039504886
        ],
        "location": [
            -978.9774169921875,
            6483.13134765625,
            363.57769775390625
        ],
        "rotation": [
            -0.026428230106830597,
            0.8694283962249756,
            167.6221466064453
        ],
        "velocity": [
            -5.089996337890625,
            1.232521891593933,
            0.08020666241645813
        ],
        "speed": 5.237095849132252,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.591797828674316,
                "transform": {
                    "location": {
                        "x": -922.7721557617188,
                        "y": 6486.15673828125,
                        "z": 362.6914367675781
                    },
                    "rotation": {
                        "roll": -0.37957754731178284,
                        "pitch": 0.7153325080871582,
                        "yaw": -179.38284301757812
                    }
                },
                "velocity": {
                    "x": -9.591198921203613,
                    "y": -0.09444614499807358,
                    "z": 0.050656747072935104
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33589,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -865.6990356445312,
                        "y": 6493.56005859375,
                        "z": 361.46435546875
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -843.7994384765625,
                        "y": 6486.7255859375,
                        "z": 361.0406494140625
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.615110397338867,
                "transform": {
                    "location": {
                        "x": -997.5849609375,
                        "y": 6485.56005859375,
                        "z": 363.8719177246094
                    },
                    "rotation": {
                        "roll": -6.1034825193928555e-05,
                        "pitch": 0.8996587991714478,
                        "yaw": -179.57037353515625
                    }
                },
                "velocity": {
                    "x": -9.61367130279541,
                    "y": -0.07210160791873932,
                    "z": 0.1499229371547699
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.620664596557617,
                "transform": {
                    "location": {
                        "x": -964.9766845703125,
                        "y": 6485.80712890625,
                        "z": 363.3968200683594
                    },
                    "rotation": {
                        "roll": 0.013209446333348751,
                        "pitch": 0.915067732334137,
                        "yaw": -179.5760040283203
                    }
                },
                "velocity": {
                    "x": -9.619229316711426,
                    "y": -0.0712982639670372,
                    "z": 0.15010812878608704
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -897.3574829101562,
                        "y": 6493.31982421875,
                        "z": 362.16815185546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -865.096435546875,
                        "y": 6486.564453125,
                        "z": 361.45147705078125
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33587,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -881.0848999023438,
                        "y": 6489.94384765625,
                        "z": 361.82135009765625
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -905.3060913085938,
                        "y": 6486.259765625,
                        "z": 362.32861328125
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33584,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -896.9141235351562,
                        "y": 6489.82373046875,
                        "z": 362.15960693359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33590,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -865.255859375,
                        "y": 6490.0634765625,
                        "z": 361.4544372558594
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1230.770751953125,
                        "y": 6470.5625,
                        "z": 371.5512390136719
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1210.819091796875,
                        "y": 6472.67041015625,
                        "z": 371.0335388183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1189.9383544921875,
                        "y": 6474.87548828125,
                        "z": 370.4407653808594
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.00732421875,
                        "y": 6478.1416015625,
                        "z": 369.4645690917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1136.1588134765625,
                        "y": 6480.52099609375,
                        "z": 368.66131591796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1116.1893310546875,
                        "y": 6482.265625,
                        "z": 367.93255615234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1091.2987060546875,
                        "y": 6483.87158203125,
                        "z": 366.9891662597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1057.9984130859375,
                        "y": 6485.04345703125,
                        "z": 365.6876525878906
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.640371322631836,
                "transform": {
                    "location": {
                        "x": -1019.1181640625,
                        "y": 6485.39697265625,
                        "z": 364.3035583496094
                    },
                    "rotation": {
                        "roll": -0.002471923129633069,
                        "pitch": 1.5446267127990723,
                        "yaw": -179.57533264160156
                    }
                },
                "velocity": {
                    "x": -9.63691520690918,
                    "y": -0.07321851700544357,
                    "z": 0.24753853678703308
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -886.619384765625,
                        "y": 6486.40087890625,
                        "z": 361.9432678222656
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33586,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -881.5282592773438,
                        "y": 6493.43994140625,
                        "z": 361.8305358886719
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9996126890182495,
        "expert_target_speed": 20.0,
        "target_point": [
            50.866856455181676,
            8.93261388515008
        ],
        "target_point_next": [
            101.12904029300154,
            20.99238357019012
        ]
    },
    "625": {
        "acceleration": [
            1.686391830444336,
            -0.5786371231079102,
            -0.02480432391166687
        ],
        "angular_velocity": [
            -0.29212895035743713,
            -0.18158937990665436,
            3.0192058086395264
        ],
        "forward_vector": [
            -0.9763545989990234,
            0.2156405746936798,
            0.015193353407084942
        ],
        "right_vector": [
            -0.21561110019683838,
            -0.976472795009613,
            0.0035719445440918207
        ],
        "location": [
            -980.23193359375,
            6483.4208984375,
            363.5972595214844
        ],
        "rotation": [
            -0.2046814113855362,
            0.8705485463142395,
            167.54542541503906
        ],
        "velocity": [
            -4.96920108795166,
            1.1248352527618408,
            0.07836022973060608
        ],
        "speed": 5.094920391758419,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.650806427001953,
                "transform": {
                    "location": {
                        "x": -925.17529296875,
                        "y": 6486.13232421875,
                        "z": 362.7398376464844
                    },
                    "rotation": {
                        "roll": -0.7192688584327698,
                        "pitch": 1.034855604171753,
                        "yaw": -179.35020446777344
                    }
                },
                "velocity": {
                    "x": -9.649234771728516,
                    "y": -0.0789770632982254,
                    "z": 0.15520241856575012
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -846.2810668945312,
                        "y": 6486.7060546875,
                        "z": 361.07647705078125
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.61495304107666,
                "transform": {
                    "location": {
                        "x": -999.9869384765625,
                        "y": 6485.54248046875,
                        "z": 363.91033935546875
                    },
                    "rotation": {
                        "roll": 0.00024645449593663216,
                        "pitch": 0.9440618753433228,
                        "yaw": -179.57020568847656
                    }
                },
                "velocity": {
                    "x": -9.613385200500488,
                    "y": -0.07211533933877945,
                    "z": 0.15794040262699127
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.595726013183594,
                "transform": {
                    "location": {
                        "x": -967.3781127929688,
                        "y": 6485.7900390625,
                        "z": 363.43463134765625
                    },
                    "rotation": {
                        "roll": 0.010887236334383488,
                        "pitch": 0.8961549401283264,
                        "yaw": -179.5742645263672
                    }
                },
                "velocity": {
                    "x": -9.594280242919922,
                    "y": -0.07291873544454575,
                    "z": 0.14974313974380493
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -867.5582885742188,
                        "y": 6486.54541015625,
                        "z": 361.51019287109375
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -907.7056274414062,
                        "y": 6486.2421875,
                        "z": 362.3763732910156
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1233.25634765625,
                        "y": 6470.2998046875,
                        "z": 371.6123352050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1213.304443359375,
                        "y": 6472.4072265625,
                        "z": 371.10064697265625
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1192.4237060546875,
                        "y": 6474.61279296875,
                        "z": 370.5140075683594
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.4920654296875,
                        "y": 6477.87939453125,
                        "z": 369.5478820800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1138.6448974609375,
                        "y": 6480.2744140625,
                        "z": 368.7513122558594
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1118.679443359375,
                        "y": 6482.07177734375,
                        "z": 368.02581787109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1093.7935791015625,
                        "y": 6483.74072265625,
                        "z": 367.0837097167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1060.4959716796875,
                        "y": 6484.9921875,
                        "z": 365.7902526855469
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.640295028686523,
                "transform": {
                    "location": {
                        "x": -1021.5274658203125,
                        "y": 6485.37841796875,
                        "z": 364.3677978515625
                    },
                    "rotation": {
                        "roll": -0.0014953615609556437,
                        "pitch": 1.5736618041992188,
                        "yaw": -179.55606079101562
                    }
                },
                "velocity": {
                    "x": -9.63649845123291,
                    "y": -0.07491031289100647,
                    "z": 0.25993528962135315
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -889.022705078125,
                        "y": 6486.38232421875,
                        "z": 361.9952697753906
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0009294748306274,
        "expert_target_speed": 20.0,
        "target_point": [
            49.567409909898885,
            9.012895959285999
        ],
        "target_point_next": [
            99.81340116323972,
            21.13995380413061
        ]
    },
    "630": {
        "acceleration": [
            -2.2751998901367188,
            0.32095909118652344,
            0.022663921117782593
        ],
        "angular_velocity": [
            -0.013241601176559925,
            0.5004267692565918,
            -0.016361290588974953
        ],
        "forward_vector": [
            -0.9775515198707581,
            0.2101340889930725,
            0.015383350662887096
        ],
        "right_vector": [
            -0.2100915014743805,
            -0.9776720404624939,
            0.004351608455181122
        ],
        "location": [
            -981.4821166992188,
            6483.697265625,
            363.6167907714844
        ],
        "rotation": [
            -0.2493591159582138,
            0.8814358711242676,
            167.8683319091797
        ],
        "velocity": [
            -5.051485538482666,
            1.0912139415740967,
            0.07900285720825195
        ],
        "speed": 5.1680029036161725,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.560726165771484,
                "transform": {
                    "location": {
                        "x": -927.5748291015625,
                        "y": 6486.1103515625,
                        "z": 362.7806701660156
                    },
                    "rotation": {
                        "roll": -0.689117431640625,
                        "pitch": 1.0671554803848267,
                        "yaw": -179.4602813720703
                    }
                },
                "velocity": {
                    "x": -9.558610916137695,
                    "y": -0.0791504979133606,
                    "z": 0.18489773571491241
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -848.7807006835938,
                        "y": 6486.6875,
                        "z": 361.11468505859375
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.633417129516602,
                "transform": {
                    "location": {
                        "x": -1002.3942260742188,
                        "y": 6485.5244140625,
                        "z": 363.9505920410156
                    },
                    "rotation": {
                        "roll": -0.0007019044132903218,
                        "pitch": 1.0029312372207642,
                        "yaw": -179.56756591796875
                    }
                },
                "velocity": {
                    "x": -9.63169002532959,
                    "y": -0.07340355962514877,
                    "z": 0.16700828075408936
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.703276634216309,
                "transform": {
                    "location": {
                        "x": -969.6914672851562,
                        "y": 6485.7724609375,
                        "z": 363.4713134765625
                    },
                    "rotation": {
                        "roll": 0.0027832346968352795,
                        "pitch": 0.822819173336029,
                        "yaw": -179.5623016357422
                    }
                },
                "velocity": {
                    "x": -8.701966285705566,
                    "y": -0.0679229274392128,
                    "z": 0.13486738502979279
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -870.0389404296875,
                        "y": 6486.52587890625,
                        "z": 361.5689697265625
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -910.1077880859375,
                        "y": 6486.2236328125,
                        "z": 362.4241027832031
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.74169921875,
                        "y": 6470.0380859375,
                        "z": 371.6727294921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1215.789794921875,
                        "y": 6472.14501953125,
                        "z": 371.16693115234375
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1194.9090576171875,
                        "y": 6474.3505859375,
                        "z": 370.5862731933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.976806640625,
                        "y": 6477.6171875,
                        "z": 369.6300354003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.1304931640625,
                        "y": 6480.0224609375,
                        "z": 368.8414306640625
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1121.1693115234375,
                        "y": 6481.86865234375,
                        "z": 368.11761474609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1096.2880859375,
                        "y": 6483.60107421875,
                        "z": 367.1783447265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1062.9935302734375,
                        "y": 6484.9404296875,
                        "z": 365.8931579589844
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.637370109558105,
                "transform": {
                    "location": {
                        "x": -1023.93701171875,
                        "y": 6485.35986328125,
                        "z": 364.43463134765625
                    },
                    "rotation": {
                        "roll": 0.0005843258113600314,
                        "pitch": 1.6536228656768799,
                        "yaw": -179.5763397216797
                    }
                },
                "velocity": {
                    "x": -9.633143424987793,
                    "y": -0.07192223519086838,
                    "z": 0.2761731445789337
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -891.4217529296875,
                        "y": 6486.36474609375,
                        "z": 362.04583740234375
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0004234313964844,
        "expert_target_speed": 20.0,
        "target_point": [
            48.3370768751465,
            8.74084078224498
        ],
        "target_point_next": [
            98.65062039635608,
            20.584510287189797
        ]
    },
    "635": {
        "acceleration": [
            -0.20336151123046875,
            -0.1775670051574707,
            0.00607907772064209
        ],
        "angular_velocity": [
            0.023185929283499718,
            0.268547385931015,
            3.6463847160339355
        ],
        "forward_vector": [
            -0.9792256355285645,
            0.20205074548721313,
            0.01710676960647106
        ],
        "right_vector": [
            -0.20200234651565552,
            -0.9793745875358582,
            0.004529356956481934
        ],
        "location": [
            -982.7734375,
            6483.97216796875,
            363.6366271972656
        ],
        "rotation": [
            -0.25955191254615784,
            0.980193555355072,
            168.34136962890625
        ],
        "velocity": [
            -5.339840412139893,
            1.1055768728256226,
            0.08350598812103271
        ],
        "speed": 5.453090486031679,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 22.082653045654297,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1004.7999267578125,
                6485.50537109375,
                363.9924621582031
            ],
            "velocity": [
                -9.614954948425293,
                -0.07343801110982895,
                0.173237606883049
            ],
            "speed_kmh": 34.62046518158449,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.646059036254883,
                "transform": {
                    "location": {
                        "x": -929.974609375,
                        "y": 6486.09130859375,
                        "z": 362.8229675292969
                    },
                    "rotation": {
                        "roll": -0.6092222929000854,
                        "pitch": 0.8737314343452454,
                        "yaw": -179.52017211914062
                    }
                },
                "velocity": {
                    "x": -9.644547462463379,
                    "y": -0.07563808560371399,
                    "z": 0.15306982398033142
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -851.2615356445312,
                        "y": 6486.66845703125,
                        "z": 361.15728759765625
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.616795539855957,
                "transform": {
                    "location": {
                        "x": -1004.7999267578125,
                        "y": 6485.50537109375,
                        "z": 363.9924621582031
                    },
                    "rotation": {
                        "roll": -9.155255247605965e-05,
                        "pitch": 1.0055267810821533,
                        "yaw": -179.56179809570312
                    }
                },
                "velocity": {
                    "x": -9.614954948425293,
                    "y": -0.07343801110982895,
                    "z": 0.173237606883049
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.309263706207275,
                "transform": {
                    "location": {
                        "x": -971.6710205078125,
                        "y": 6485.7568359375,
                        "z": 363.5026550292969
                    },
                    "rotation": {
                        "roll": 0.0005910919862799346,
                        "pitch": 0.7676790952682495,
                        "yaw": -179.558837890625
                    }
                },
                "velocity": {
                    "x": -7.308150291442871,
                    "y": -0.056123171001672745,
                    "z": 0.11457397043704987
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -872.4976196289062,
                        "y": 6486.50732421875,
                        "z": 361.6263122558594
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -912.5059814453125,
                        "y": 6486.205078125,
                        "z": 362.4718322753906
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -830.8027954101562,
                        "y": 6486.82421875,
                        "z": 361.04840087890625
                    },
                    "rotation": {
                        "roll": 1.0422199908655116e-10,
                        "pitch": 0.3164972960948944,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1238.2271728515625,
                        "y": 6469.775390625,
                        "z": 371.7324523925781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1218.275146484375,
                        "y": 6471.88232421875,
                        "z": 371.23260498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1197.3944091796875,
                        "y": 6474.087890625,
                        "z": 370.6584167480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.4615478515625,
                        "y": 6477.35498046875,
                        "z": 369.7117004394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1143.61572265625,
                        "y": 6479.7646484375,
                        "z": 368.9306945800781
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1123.65869140625,
                        "y": 6481.66259765625,
                        "z": 368.208740234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1098.7821044921875,
                        "y": 6483.45654296875,
                        "z": 367.2727966308594
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1065.490478515625,
                        "y": 6484.8759765625,
                        "z": 365.9942932128906
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.636653900146484,
                "transform": {
                    "location": {
                        "x": -1026.34619140625,
                        "y": 6485.341796875,
                        "z": 364.5045166015625
                    },
                    "rotation": {
                        "roll": 0.0005198845756240189,
                        "pitch": 1.7587462663650513,
                        "yaw": -179.55653381347656
                    }
                },
                "velocity": {
                    "x": -9.632076263427734,
                    "y": -0.07266786694526672,
                    "z": 0.2879641056060791
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -893.8226928710938,
                        "y": 6486.3466796875,
                        "z": 362.096435546875
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0006794929504395,
        "expert_target_speed": 20.0,
        "target_point": [
            47.08736089015175,
            8.349759999430168
        ],
        "target_point_next": [
            97.49696944790847,
            19.777644058027786
        ]
    },
    "640": {
        "acceleration": [
            -2.3633193969726562,
            -0.16571521759033203,
            0.03544345498085022
        ],
        "angular_velocity": [
            -0.24556654691696167,
            0.3544136583805084,
            1.9343129396438599
        ],
        "forward_vector": [
            -0.981687068939209,
            0.18965938687324524,
            0.017882227897644043
        ],
        "right_vector": [
            -0.1895880550146103,
            -0.9818476438522339,
            0.00561887351796031
        ],
        "location": [
            -984.1566772460938,
            6484.24560546875,
            363.6580810546875
        ],
        "rotation": [
            -0.3219909369945526,
            1.0246307849884033,
            169.06532287597656
        ],
        "velocity": [
            -5.718497276306152,
            1.0542080402374268,
            0.08970370888710022
        ],
        "speed": 5.814857323376225,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 23.085369110107422,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1007.2055053710938,
                6485.4873046875,
                364.0375671386719
            ],
            "velocity": [
                -9.622735023498535,
                -0.07334926724433899,
                0.180577352643013
            ],
            "speed_kmh": 34.648951332699035,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.57646369934082,
                "transform": {
                    "location": {
                        "x": -932.3770751953125,
                        "y": 6486.07275390625,
                        "z": 362.8599853515625
                    },
                    "rotation": {
                        "roll": -0.52471923828125,
                        "pitch": 0.9117618799209595,
                        "yaw": -179.55946350097656
                    }
                },
                "velocity": {
                    "x": -9.575050354003906,
                    "y": -0.0777900367975235,
                    "z": 0.14497677981853485
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -853.7608642578125,
                        "y": 6486.650390625,
                        "z": 361.2024230957031
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.624709129333496,
                "transform": {
                    "location": {
                        "x": -1007.2055053710938,
                        "y": 6485.4873046875,
                        "z": 364.0375671386719
                    },
                    "rotation": {
                        "roll": 0.00017578840197529644,
                        "pitch": 1.1678189039230347,
                        "yaw": -179.5637969970703
                    }
                },
                "velocity": {
                    "x": -9.622735023498535,
                    "y": -0.07334926724433899,
                    "z": 0.180577352643013
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.968794107437134,
                "transform": {
                    "location": {
                        "x": -973.1002197265625,
                        "y": 6485.74560546875,
                        "z": 363.52630615234375
                    },
                    "rotation": {
                        "roll": -0.0009765622089616954,
                        "pitch": 0.5878674983978271,
                        "yaw": -179.57766723632812
                    }
                },
                "velocity": {
                    "x": -3.9682295322418213,
                    "y": -0.029985584318637848,
                    "z": 0.05984816327691078
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -874.9591064453125,
                        "y": 6486.48876953125,
                        "z": 361.6833190917969
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.222675323486328,
                "transform": {
                    "location": {
                        "x": -914.8557739257812,
                        "y": 6486.18603515625,
                        "z": 362.5430908203125
                    },
                    "rotation": {
                        "roll": -1.0913695096969604,
                        "pitch": 1.3666456937789917,
                        "yaw": -179.52703857421875
                    }
                },
                "velocity": {
                    "x": -9.21654987335205,
                    "y": -0.022841759026050568,
                    "z": 0.3352978527545929
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -833.3013916015625,
                        "y": 6486.8056640625,
                        "z": 360.9715881347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1240.7125244140625,
                        "y": 6469.51318359375,
                        "z": 371.7916259765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1220.760498046875,
                        "y": 6471.62060546875,
                        "z": 371.2974853515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1199.8797607421875,
                        "y": 6473.82568359375,
                        "z": 370.729248046875
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.9461669921875,
                        "y": 6477.09228515625,
                        "z": 369.7922668457031
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1146.1004638671875,
                        "y": 6479.50341796875,
                        "z": 369.019287109375
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1126.1474609375,
                        "y": 6481.44677734375,
                        "z": 368.29888916015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1101.275390625,
                        "y": 6483.30419921875,
                        "z": 367.3674621582031
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1067.9873046875,
                        "y": 6484.810546875,
                        "z": 366.0953369140625
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.635830879211426,
                "transform": {
                    "location": {
                        "x": -1028.75439453125,
                        "y": 6485.32373046875,
                        "z": 364.5773620605469
                    },
                    "rotation": {
                        "roll": -0.00115966796875,
                        "pitch": 1.7712386846542358,
                        "yaw": -179.5747833251953
                    }
                },
                "velocity": {
                    "x": -9.630824089050293,
                    "y": -0.07330502569675446,
                    "z": 0.3018079400062561
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -896.1876220703125,
                        "y": 6486.3291015625,
                        "z": 362.1452941894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.8744949698448181,
        "expert_target_speed": 20.0,
        "target_point": [
            45.77910650923367,
            7.760237177481084
        ],
        "target_point_next": [
            96.32908131024035,
            18.550288920665654
        ]
    },
    "645": {
        "acceleration": [
            0.4756736755371094,
            -0.5932188034057617,
            -0.017225146293640137
        ],
        "angular_velocity": [
            0.013858879916369915,
            -0.36788374185562134,
            6.326828479766846
        ],
        "forward_vector": [
            -0.9854105114936829,
            0.16923780739307404,
            0.018018104135990143
        ],
        "right_vector": [
            -0.1691536158323288,
            -0.9855708479881287,
            0.006109327077865601
        ],
        "location": [
            -985.6185913085938,
            6484.50048828125,
            363.6809387207031
        ],
        "rotation": [
            -0.3500976860523224,
            1.0324171781539917,
            170.25489807128906
        ],
        "velocity": [
            -5.955357551574707,
            0.9586261510848999,
            0.09271890670061111
        ],
        "speed": 6.032018539812501,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 24.015201568603516,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1009.61083984375,
                6485.46875,
                364.0863952636719
            ],
            "velocity": [
                -9.618664741516113,
                -0.07351765036582947,
                0.1970328837633133
            ],
            "speed_kmh": 34.63546851460256,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.647146224975586,
                "transform": {
                    "location": {
                        "x": -934.7796020507812,
                        "y": 6486.0537109375,
                        "z": 362.8969421386719
                    },
                    "rotation": {
                        "roll": -0.406341552734375,
                        "pitch": 0.8437195420265198,
                        "yaw": -179.51058959960938
                    }
                },
                "velocity": {
                    "x": -9.645660400390625,
                    "y": -0.0834343209862709,
                    "z": 0.14736133813858032
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -856.1812133789062,
                        "y": 6486.63134765625,
                        "z": 361.2505798339844
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.620963096618652,
                "transform": {
                    "location": {
                        "x": -1009.61083984375,
                        "y": 6485.46875,
                        "z": 364.0863952636719
                    },
                    "rotation": {
                        "roll": 0.0007368175429292023,
                        "pitch": 1.1823192834854126,
                        "yaw": -179.5615997314453
                    }
                },
                "velocity": {
                    "x": -9.618664741516113,
                    "y": -0.07351765036582947,
                    "z": 0.1970328837633133
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.445736885070801,
                "transform": {
                    "location": {
                        "x": -974.119873046875,
                        "y": 6485.73779296875,
                        "z": 363.54010009765625
                    },
                    "rotation": {
                        "roll": -0.0012512208195403218,
                        "pitch": 0.8372786641120911,
                        "yaw": -179.57936096191406
                    }
                },
                "velocity": {
                    "x": -4.445070743560791,
                    "y": -0.032551512122154236,
                    "z": 0.06974469870328903
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -877.3424072265625,
                        "y": 6486.4716796875,
                        "z": 361.7375793457031
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.222582817077637,
                "transform": {
                    "location": {
                        "x": -917.15576171875,
                        "y": 6486.1728515625,
                        "z": 362.59222412109375
                    },
                    "rotation": {
                        "roll": -0.8446044921875,
                        "pitch": 1.524518609046936,
                        "yaw": -179.56837463378906
                    }
                },
                "velocity": {
                    "x": -9.219337463378906,
                    "y": -0.05641467869281769,
                    "z": 0.23803353309631348
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -835.7617797851562,
                        "y": 6486.78662109375,
                        "z": 360.9535827636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1243.1978759765625,
                        "y": 6469.2509765625,
                        "z": 371.8507385253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1223.245849609375,
                        "y": 6471.35791015625,
                        "z": 371.3615417480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1202.364990234375,
                        "y": 6473.5634765625,
                        "z": 370.7999267578125
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.430908203125,
                        "y": 6476.830078125,
                        "z": 369.87225341796875
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1148.585205078125,
                        "y": 6479.2421875,
                        "z": 369.1067810058594
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1128.635986328125,
                        "y": 6481.22802734375,
                        "z": 368.3888854980469
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1103.7686767578125,
                        "y": 6483.14794921875,
                        "z": 367.4619445800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1070.4842529296875,
                        "y": 6484.73291015625,
                        "z": 366.1939392089844
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.634201049804688,
                "transform": {
                    "location": {
                        "x": -1031.163330078125,
                        "y": 6485.3046875,
                        "z": 364.6534423828125
                    },
                    "rotation": {
                        "roll": 0.0005323126679286361,
                        "pitch": 1.9262703657150269,
                        "yaw": -179.55690002441406
                    }
                },
                "velocity": {
                    "x": -9.62890911102295,
                    "y": -0.07273132354021072,
                    "z": 0.3108804523944855
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -898.4878540039062,
                        "y": 6486.3115234375,
                        "z": 362.19232177734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6685325503349304,
        "expert_target_speed": 20.0,
        "target_point": [
            44.44638409845771,
            6.811923309451306
        ],
        "target_point_next": [
            95.20947087430068,
            16.55020806556964
        ]
    },
    "650": {
        "acceleration": [
            -2.9503345489501953,
            -0.1341235637664795,
            0.0595150887966156
        ],
        "angular_velocity": [
            0.06280014663934708,
            0.28353118896484375,
            3.5875072479248047
        ],
        "forward_vector": [
            -0.9887942671775818,
            0.1481744796037674,
            0.018175555393099785
        ],
        "right_vector": [
            -0.1480875462293625,
            -0.9889557361602783,
            0.00604647072032094
        ],
        "location": [
            -987.1627197265625,
            6484.7353515625,
            363.70501708984375
        ],
        "rotation": [
            -0.34649658203125,
            1.0414398908615112,
            171.47743225097656
        ],
        "velocity": [
            -6.366758346557617,
            0.8841469287872314,
            0.09958723187446594
        ],
        "speed": 6.427855601609683,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 24.86733055114746,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1012.0159912109375,
                6485.45068359375,
                364.13775634765625
            ],
            "velocity": [
                -9.617412567138672,
                -0.07324255257844925,
                0.21107986569404602
            ],
            "speed_kmh": 34.632026881692234,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.573836326599121,
                "transform": {
                    "location": {
                        "x": -937.1817016601562,
                        "y": 6486.033203125,
                        "z": 362.93353271484375
                    },
                    "rotation": {
                        "roll": -0.1671142429113388,
                        "pitch": 0.8979307413101196,
                        "yaw": -179.522216796875
                    }
                },
                "velocity": {
                    "x": -9.57228946685791,
                    "y": -0.09119504690170288,
                    "z": 0.1459452360868454
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -858.680419921875,
                        "y": 6486.6123046875,
                        "z": 361.3025207519531
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.620007514953613,
                "transform": {
                    "location": {
                        "x": -1012.0159912109375,
                        "y": 6485.45068359375,
                        "z": 364.13775634765625
                    },
                    "rotation": {
                        "roll": -9.155279985861853e-05,
                        "pitch": 1.275319218635559,
                        "yaw": -179.568115234375
                    }
                },
                "velocity": {
                    "x": -9.617412567138672,
                    "y": -0.07324255257844925,
                    "z": 0.21107986569404602
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.208058834075928,
                "transform": {
                    "location": {
                        "x": -975.3704223632812,
                        "y": 6485.728515625,
                        "z": 363.5589294433594
                    },
                    "rotation": {
                        "roll": -0.0007934566820040345,
                        "pitch": 0.9614788293838501,
                        "yaw": -179.57763671875
                    }
                },
                "velocity": {
                    "x": -5.207261085510254,
                    "y": -0.03846580535173416,
                    "z": 0.08264514803886414
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -879.7172241210938,
                        "y": 6486.4541015625,
                        "z": 361.7915954589844
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.020942687988281,
                "transform": {
                    "location": {
                        "x": -919.431396484375,
                        "y": 6486.1591796875,
                        "z": 362.64678955078125
                    },
                    "rotation": {
                        "roll": -1.0769041776657104,
                        "pitch": 1.107494592666626,
                        "yaw": -179.53968811035156
                    }
                },
                "velocity": {
                    "x": -9.019072532653809,
                    "y": -0.05886637419462204,
                    "z": 0.17398230731487274
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -838.2213745117188,
                        "y": 6486.7685546875,
                        "z": 360.9754943847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33556,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1245.6832275390625,
                        "y": 6468.98876953125,
                        "z": 371.9097595214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1225.731201171875,
                        "y": 6471.095703125,
                        "z": 371.42498779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1204.850341796875,
                        "y": 6473.30029296875,
                        "z": 370.8692932128906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1173.9156494140625,
                        "y": 6476.5673828125,
                        "z": 369.95111083984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.06982421875,
                        "y": 6478.97998046875,
                        "z": 369.19342041015625
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1131.123779296875,
                        "y": 6481.0,
                        "z": 368.47900390625
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1106.2613525390625,
                        "y": 6482.98193359375,
                        "z": 367.5565490722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1072.981201171875,
                        "y": 6484.65625,
                        "z": 366.2923889160156
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.634586334228516,
                "transform": {
                    "location": {
                        "x": -1033.570556640625,
                        "y": 6485.28662109375,
                        "z": 364.7330322265625
                    },
                    "rotation": {
                        "roll": 0.0016454271972179413,
                        "pitch": 1.9376425743103027,
                        "yaw": -179.5774383544922
                    }
                },
                "velocity": {
                    "x": -9.629046440124512,
                    "y": -0.07121779024600983,
                    "z": 0.31881338357925415
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -900.7725830078125,
                        "y": 6486.29443359375,
                        "z": 362.2381286621094
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.5171876549720764,
        "expert_target_speed": 20.0,
        "target_point": [
            43.01971817728013,
            5.8655229734112995
        ],
        "target_point_next": [
            93.97902029345519,
            14.518539605511666
        ]
    },
    "655": {
        "acceleration": [
            0.04021644592285156,
            -0.5959200859069824,
            -0.0166340172290802
        ],
        "angular_velocity": [
            0.04070251062512398,
            -0.21691100299358368,
            6.758608818054199
        ],
        "forward_vector": [
            -0.991849958896637,
            0.12611116468906403,
            0.018153386190533638
        ],
        "right_vector": [
            -0.12602263689041138,
            -0.9920094609260559,
            0.00594475818797946
        ],
        "location": [
            -988.7844848632812,
            6484.9462890625,
            363.73040771484375
        ],
        "rotation": [
            -0.3406676948070526,
            1.0401694774627686,
            172.75387573242188
        ],
        "velocity": [
            -6.612016677856445,
            0.7718361616134644,
            0.10270126163959503
        ],
        "speed": 6.656913369469817,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 25.64511489868164,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1014.4208374023438,
                6485.43212890625,
                364.1922302246094
            ],
            "velocity": [
                -9.614517211914062,
                -0.07220494002103806,
                0.22896181046962738
            ],
            "speed_kmh": 34.62305091319113,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.649011611938477,
                "transform": {
                    "location": {
                        "x": -939.583984375,
                        "y": 6486.009765625,
                        "z": 362.9695129394531
                    },
                    "rotation": {
                        "roll": -0.1098937913775444,
                        "pitch": 0.8377977609634399,
                        "yaw": -179.54324340820312
                    }
                },
                "velocity": {
                    "x": -9.647574424743652,
                    "y": -0.0882919505238533,
                    "z": 0.1411655992269516
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -861.0997314453125,
                        "y": 6486.59375,
                        "z": 361.3572082519531
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.617513656616211,
                "transform": {
                    "location": {
                        "x": -1014.4208374023438,
                        "y": 6485.43212890625,
                        "z": 364.1922302246094
                    },
                    "rotation": {
                        "roll": -6.1035138060105965e-05,
                        "pitch": 1.3690567016601562,
                        "yaw": -179.570068359375
                    }
                },
                "velocity": {
                    "x": -9.614517211914062,
                    "y": -0.07220494002103806,
                    "z": 0.22896181046962738
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.590551376342773,
                "transform": {
                    "location": {
                        "x": -976.7171020507812,
                        "y": 6485.71875,
                        "z": 363.5801086425781
                    },
                    "rotation": {
                        "roll": -0.0004577638173941523,
                        "pitch": 0.9424294233322144,
                        "yaw": -179.58360290527344
                    }
                },
                "velocity": {
                    "x": -5.589724540710449,
                    "y": -0.04116563871502876,
                    "z": 0.08690515160560608
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -882.0855102539062,
                        "y": 6486.435546875,
                        "z": 361.8440246582031
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.16982650756836,
                "transform": {
                    "location": {
                        "x": -921.6632690429688,
                        "y": 6486.14404296875,
                        "z": 362.6885986328125
                    },
                    "rotation": {
                        "roll": -0.9579466581344604,
                        "pitch": 1.1565558910369873,
                        "yaw": -179.49131774902344
                    }
                },
                "velocity": {
                    "x": -8.168261528015137,
                    "y": -0.06077468395233154,
                    "z": 0.1479102224111557
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -840.68115234375,
                        "y": 6486.74853515625,
                        "z": 361.00189208984375
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1228.216552734375,
                        "y": 6470.8330078125,
                        "z": 371.48760986328125
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.335693359375,
                        "y": 6473.0380859375,
                        "z": 370.93841552734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1176.400390625,
                        "y": 6476.3046875,
                        "z": 370.02947998046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.5545654296875,
                        "y": 6478.71728515625,
                        "z": 369.279296875
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1133.6112060546875,
                        "y": 6480.767578125,
                        "z": 368.5689697265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1108.7537841796875,
                        "y": 6482.81298828125,
                        "z": 367.6510009765625
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1075.4776611328125,
                        "y": 6484.56689453125,
                        "z": 366.3883056640625
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.63144302368164,
                "transform": {
                    "location": {
                        "x": -1035.9783935546875,
                        "y": 6485.26806640625,
                        "z": 364.815185546875
                    },
                    "rotation": {
                        "roll": 0.0003299715172033757,
                        "pitch": 2.0391664505004883,
                        "yaw": -179.55508422851562
                    }
                },
                "velocity": {
                    "x": -9.625296592712402,
                    "y": -0.07291435450315475,
                    "z": 0.33621323108673096
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -903.0260620117188,
                        "y": 6486.27685546875,
                        "z": 362.2833251953125
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3041936159133911,
        "expert_target_speed": 20.0,
        "target_point": [
            41.504284740567854,
            4.91045742919733
        ],
        "target_point_next": [
            92.64369628915539,
            12.4261580264272
        ]
    },
    "660": {
        "acceleration": [
            -2.5222396850585938,
            -0.3763580322265625,
            0.029867887496948242
        ],
        "angular_velocity": [
            0.06364714354276657,
            0.24358993768692017,
            3.4750306606292725
        ],
        "forward_vector": [
            -0.9943807125091553,
            0.1042742058634758,
            0.01827126182615757
        ],
        "right_vector": [
            -0.10418438166379929,
            -0.9945411086082458,
            0.005803622305393219
        ],
        "location": [
            -990.4863891601562,
            6485.1298828125,
            363.75701904296875
        ],
        "rotation": [
            -0.33258044719696045,
            1.0469244718551636,
            174.01364135742188
        ],
        "velocity": [
            -6.994433879852295,
            0.660365104675293,
            0.1090283915400505
        ],
        "speed": 7.025538226434929,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 26.344947814941406,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1016.8251953125,
                6485.4140625,
                364.249755859375
            ],
            "velocity": [
                -9.616617202758789,
                -0.07266636937856674,
                0.2377660870552063
            ],
            "speed_kmh": 34.63138992893209,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.575284004211426,
                "transform": {
                    "location": {
                        "x": -941.9861450195312,
                        "y": 6485.98876953125,
                        "z": 363.0052185058594
                    },
                    "rotation": {
                        "roll": -0.0582885779440403,
                        "pitch": 0.8282423615455627,
                        "yaw": -179.62811279296875
                    }
                },
                "velocity": {
                    "x": -9.573938369750977,
                    "y": -0.08028765767812729,
                    "z": 0.13902726769447327
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -863.5990600585938,
                        "y": 6486.57568359375,
                        "z": 361.4158020019531
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.619830131530762,
                "transform": {
                    "location": {
                        "x": -1016.8251953125,
                        "y": 6485.4140625,
                        "z": 364.249755859375
                    },
                    "rotation": {
                        "roll": -0.00039672822458669543,
                        "pitch": 1.3843767642974854,
                        "yaw": -179.56629943847656
                    }
                },
                "velocity": {
                    "x": -9.616617202758789,
                    "y": -0.07266636937856674,
                    "z": 0.2377660870552063
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.513680934906006,
                "transform": {
                    "location": {
                        "x": -978.3483276367188,
                        "y": 6485.7060546875,
                        "z": 363.6043395996094
                    },
                    "rotation": {
                        "roll": 0.0002885551657527685,
                        "pitch": 1.085515022277832,
                        "yaw": -179.5597686767578
                    }
                },
                "velocity": {
                    "x": -7.512541770935059,
                    "y": -0.057973816990852356,
                    "z": 0.11730771511793137
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -884.3173828125,
                        "y": 6486.41845703125,
                        "z": 361.8935546875
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.951845169067383,
                "transform": {
                    "location": {
                        "x": -923.4888305664062,
                        "y": 6486.1328125,
                        "z": 362.71002197265625
                    },
                    "rotation": {
                        "roll": -0.2735900580883026,
                        "pitch": 0.7473387718200684,
                        "yaw": -179.06150817871094
                    }
                },
                "velocity": {
                    "x": -6.949750900268555,
                    "y": -0.07109304517507553,
                    "z": 0.15511631965637207
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -843.1407470703125,
                        "y": 6486.72998046875,
                        "z": 361.0324401855469
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1230.701904296875,
                        "y": 6470.5703125,
                        "z": 371.5494689941406
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.821044921875,
                        "y": 6472.775390625,
                        "z": 371.0062561035156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1178.8853759765625,
                        "y": 6476.04248046875,
                        "z": 370.10662841796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.039306640625,
                        "y": 6478.455078125,
                        "z": 369.3642578125
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1136.0977783203125,
                        "y": 6480.52685546875,
                        "z": 368.6590881347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1111.245849609375,
                        "y": 6482.634765625,
                        "z": 367.7456970214844
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1077.9739990234375,
                        "y": 6484.4775390625,
                        "z": 366.4842224121094
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.631329536437988,
                "transform": {
                    "location": {
                        "x": -1038.385498046875,
                        "y": 6485.25,
                        "z": 364.90069580078125
                    },
                    "rotation": {
                        "roll": 0.0010077592451125383,
                        "pitch": 2.1253087520599365,
                        "yaw": -179.57937622070312
                    }
                },
                "velocity": {
                    "x": -9.624715805053711,
                    "y": -0.07078284025192261,
                    "z": 0.3497810959815979
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -904.8914794921875,
                        "y": 6486.26220703125,
                        "z": 362.3204345703125
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.18235737085342407,
        "expert_target_speed": 20.0,
        "target_point": [
            39.890441562648185,
            4.00187003653725
        ],
        "target_point_next": [
            91.1827296881974,
            10.391419930594916
        ]
    },
    "665": {
        "acceleration": [
            -0.31348228454589844,
            -0.5952155590057373,
            0.008675754070281982
        ],
        "angular_velocity": [
            0.07214366644620895,
            -0.15308208763599396,
            6.948602199554443
        ],
        "forward_vector": [
            -0.9964613318443298,
            0.08203451335430145,
            0.0183061845600605
        ],
        "right_vector": [
            -0.08194562047719955,
            -0.996621310710907,
            0.00555545836687088
        ],
        "location": [
            -992.268310546875,
            6485.2822265625,
            363.7848815917969
        ],
        "rotation": [
            -0.31835928559303284,
            1.048925757408142,
            175.29368591308594
        ],
        "velocity": [
            -7.261789798736572,
            0.5296813249588013,
            0.11311416327953339
        ],
        "speed": 7.281081883006443,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 26.966968536376953,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1019.2299194335938,
                6485.39599609375,
                364.3102722167969
            ],
            "velocity": [
                -9.611809730529785,
                -0.07239801436662674,
                0.2450052797794342
            ],
            "speed_kmh": 34.61473578416314,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.64644718170166,
                "transform": {
                    "location": {
                        "x": -944.3890991210938,
                        "y": 6485.96923828125,
                        "z": 363.04052734375
                    },
                    "rotation": {
                        "roll": 0.008808148093521595,
                        "pitch": 0.8791955709457397,
                        "yaw": -179.65931701660156
                    }
                },
                "velocity": {
                    "x": -9.645013809204102,
                    "y": -0.0767272487282753,
                    "z": 0.14754173159599304
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -865.9811401367188,
                        "y": 6486.556640625,
                        "z": 361.4725341796875
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.615204811096191,
                "transform": {
                    "location": {
                        "x": -1019.2299194335938,
                        "y": 6485.39599609375,
                        "z": 364.3102722167969
                    },
                    "rotation": {
                        "roll": 0.00014390605792868882,
                        "pitch": 1.5445924997329712,
                        "yaw": -179.568115234375
                    }
                },
                "velocity": {
                    "x": -9.611809730529785,
                    "y": -0.07239801436662674,
                    "z": 0.2450052797794342
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.933372497558594,
                "transform": {
                    "location": {
                        "x": -980.1616821289062,
                        "y": 6485.6923828125,
                        "z": 363.63433837890625
                    },
                    "rotation": {
                        "roll": -0.0004882813664153218,
                        "pitch": 0.9047609567642212,
                        "yaw": -179.56642150878906
                    }
                },
                "velocity": {
                    "x": -6.932343006134033,
                    "y": -0.05233050137758255,
                    "z": 0.10740014910697937
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -886.4476318359375,
                        "y": 6486.40087890625,
                        "z": 361.93963623046875
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.263171195983887,
                "transform": {
                    "location": {
                        "x": -925.24951171875,
                        "y": 6486.11669921875,
                        "z": 362.7535095214844
                    },
                    "rotation": {
                        "roll": -0.8157044053077698,
                        "pitch": 1.0024667978286743,
                        "yaw": -179.28738403320312
                    }
                },
                "velocity": {
                    "x": -7.261719226837158,
                    "y": -0.04972565174102783,
                    "z": 0.13644525408744812
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -845.5235595703125,
                        "y": 6486.71240234375,
                        "z": 361.0652160644531
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1233.187255859375,
                        "y": 6470.30810546875,
                        "z": 371.6106262207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1212.306396484375,
                        "y": 6472.51220703125,
                        "z": 371.0740051269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1181.37060546875,
                        "y": 6475.77978515625,
                        "z": 370.1833801269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.5240478515625,
                        "y": 6478.19287109375,
                        "z": 369.4483642578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1138.5838623046875,
                        "y": 6480.2822265625,
                        "z": 368.7491455078125
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1113.737548828125,
                        "y": 6482.453125,
                        "z": 367.8400573730469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1080.4703369140625,
                        "y": 6484.37548828125,
                        "z": 366.5787658691406
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.629341125488281,
                "transform": {
                    "location": {
                        "x": -1040.791748046875,
                        "y": 6485.23193359375,
                        "z": 364.9889831542969
                    },
                    "rotation": {
                        "roll": 0.0008481390541419387,
                        "pitch": 2.152834415435791,
                        "yaw": -179.55934143066406
                    }
                },
                "velocity": {
                    "x": -9.622220039367676,
                    "y": -0.07198937982320786,
                    "z": 0.36320242285728455
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -906.641845703125,
                        "y": 6486.25,
                        "z": 362.3552551269531
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.09653981775045395,
        "expert_target_speed": 20.0,
        "target_point": [
            38.18147162908358,
            3.115389005172572
        ],
        "target_point_next": [
            89.60369565416163,
            8.357530296448134
        ]
    },
    "670": {
        "acceleration": [
            -0.2984046936035156,
            -0.5316448211669922,
            0.011144280433654785
        ],
        "angular_velocity": [
            0.1316932886838913,
            -0.22833120822906494,
            1.3074100017547607
        ],
        "forward_vector": [
            -0.9978312253952026,
            0.06348301470279694,
            0.017400816082954407
        ],
        "right_vector": [
            -0.06340444833040237,
            -0.99797523021698,
            0.005030460190027952
        ],
        "location": [
            -994.101318359375,
            6485.40185546875,
            363.81378173828125
        ],
        "rotation": [
            -0.2882690131664276,
            0.9970436692237854,
            176.3596954345703
        ],
        "velocity": [
            -7.376737117767334,
            0.3962825834751129,
            0.11560525745153427
        ],
        "speed": 7.387373714021243,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 27.537885665893555,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1021.6334838867188,
                6485.37744140625,
                364.3744812011719
            ],
            "velocity": [
                -9.616698265075684,
                -0.0726410299539566,
                0.2592910826206207
            ],
            "speed_kmh": 34.63368284802017,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.573945045471191,
                "transform": {
                    "location": {
                        "x": -946.7910766601562,
                        "y": 6485.951171875,
                        "z": 363.0769958496094
                    },
                    "rotation": {
                        "roll": 0.04839736223220825,
                        "pitch": 0.8688000440597534,
                        "yaw": -179.65333557128906
                    }
                },
                "velocity": {
                    "x": -9.57254695892334,
                    "y": -0.07545218616724014,
                    "z": 0.14516690373420715
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -868.3634033203125,
                        "y": 6486.53857421875,
                        "z": 361.52935791015625
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.620468139648438,
                "transform": {
                    "location": {
                        "x": -1021.6334838867188,
                        "y": 6485.37744140625,
                        "z": 364.3744812011719
                    },
                    "rotation": {
                        "roll": 0.00021237999317236245,
                        "pitch": 1.5447838306427002,
                        "yaw": -179.56712341308594
                    }
                },
                "velocity": {
                    "x": -9.616698265075684,
                    "y": -0.0726410299539566,
                    "z": 0.2592910826206207
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.75290060043335,
                "transform": {
                    "location": {
                        "x": -981.8429565429688,
                        "y": 6485.6796875,
                        "z": 363.6607971191406
                    },
                    "rotation": {
                        "roll": -0.00024414071231149137,
                        "pitch": 0.8861828446388245,
                        "yaw": -179.56690979003906
                    }
                },
                "velocity": {
                    "x": -6.751890659332275,
                    "y": -0.05102724954485893,
                    "z": 0.1050567775964737
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -888.3815307617188,
                        "y": 6486.38720703125,
                        "z": 361.9813537597656
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.54088306427002,
                "transform": {
                    "location": {
                        "x": -927.169921875,
                        "y": 6486.10009765625,
                        "z": 362.7829895019531
                    },
                    "rotation": {
                        "roll": -0.569549560546875,
                        "pitch": 1.0882266759872437,
                        "yaw": -179.455322265625
                    }
                },
                "velocity": {
                    "x": -8.538743019104004,
                    "y": -0.06560201197862625,
                    "z": 0.1795535683631897
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -847.9063720703125,
                        "y": 6486.6943359375,
                        "z": 361.1014099121094
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -830.8027954101562,
                        "y": 6486.82421875,
                        "z": 361.04840087890625
                    },
                    "rotation": {
                        "roll": 1.0422199908655116e-10,
                        "pitch": 0.3164972960948944,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.672607421875,
                        "y": 6470.04541015625,
                        "z": 371.67095947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1214.791748046875,
                        "y": 6472.25,
                        "z": 371.1402893066406
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1183.8558349609375,
                        "y": 6475.517578125,
                        "z": 370.2589416503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.0086669921875,
                        "y": 6477.9306640625,
                        "z": 369.53167724609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.0692138671875,
                        "y": 6480.029296875,
                        "z": 368.8392639160156
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1116.2283935546875,
                        "y": 6482.26220703125,
                        "z": 367.9340515136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1082.9666748046875,
                        "y": 6484.27294921875,
                        "z": 366.6735534667969
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.628135681152344,
                "transform": {
                    "location": {
                        "x": -1043.198486328125,
                        "y": 6485.21337890625,
                        "z": 365.08038330078125
                    },
                    "rotation": {
                        "roll": -0.002014158759266138,
                        "pitch": 2.301903486251831,
                        "yaw": -179.5733184814453
                    }
                },
                "velocity": {
                    "x": -9.620588302612305,
                    "y": -0.07359577715396881,
                    "z": 0.37398993968963623
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -908.5269165039062,
                        "y": 6486.2353515625,
                        "z": 362.3927307128906
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.012654262594878674,
        "expert_target_speed": 20.0,
        "target_point": [
            36.39591774479544,
            2.4075210028575165
        ],
        "target_point_next": [
            87.90676763462781,
            6.692087798948366
        ]
    },
    "675": {
        "acceleration": [
            -0.17149925231933594,
            -0.5782395601272583,
            0.005062520503997803
        ],
        "angular_velocity": [
            0.11611904203891754,
            -0.1174984872341156,
            7.402507305145264
        ],
        "forward_vector": [
            -0.9989017248153687,
            0.04377324506640434,
            0.01670914702117443
        ],
        "right_vector": [
            -0.04369937255978584,
            -0.9990333318710327,
            0.004761048126965761
        ],
        "location": [
            -995.9521484375,
            6485.486328125,
            363.8428955078125
        ],
        "rotation": [
            -0.2728270888328552,
            0.95740807056427,
            177.49082946777344
        ],
        "velocity": [
            -7.428170680999756,
            0.2492654025554657,
            0.11556179076433182
        ],
        "speed": 7.4323517749751,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 28.09198760986328,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1024.0374755859375,
                6485.35986328125,
                364.44134521484375
            ],
            "velocity": [
                -9.608860969543457,
                -0.07282337546348572,
                0.2716088593006134
            ],
            "speed_kmh": 34.60670913826251,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.647411346435547,
                "transform": {
                    "location": {
                        "x": -949.1937255859375,
                        "y": 6485.931640625,
                        "z": 363.11322021484375
                    },
                    "rotation": {
                        "roll": 0.05494403466582298,
                        "pitch": 0.8579809665679932,
                        "yaw": -179.62896728515625
                    }
                },
                "velocity": {
                    "x": -9.645994186401367,
                    "y": -0.07771743834018707,
                    "z": 0.14593230187892914
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -870.7843017578125,
                        "y": 6486.52099609375,
                        "z": 361.58642578125
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.612974166870117,
                "transform": {
                    "location": {
                        "x": -1024.0374755859375,
                        "y": 6485.35986328125,
                        "z": 364.44134521484375
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 1.6546132564544678,
                        "yaw": -179.57077026367188
                    }
                },
                "velocity": {
                    "x": -9.608860969543457,
                    "y": -0.07282337546348572,
                    "z": 0.2716088593006134
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.425658702850342,
                "transform": {
                    "location": {
                        "x": -983.6306762695312,
                        "y": 6485.666015625,
                        "z": 363.688232421875
                    },
                    "rotation": {
                        "roll": -0.00048828107537701726,
                        "pitch": 0.950516402721405,
                        "yaw": -179.5670166015625
                    }
                },
                "velocity": {
                    "x": -7.424535751342773,
                    "y": -0.05610428377985954,
                    "z": 0.11631359159946442
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -890.7263793945312,
                        "y": 6486.36962890625,
                        "z": 362.0313720703125
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.589953422546387,
                "transform": {
                    "location": {
                        "x": -929.4904174804688,
                        "y": 6486.08251953125,
                        "z": 362.8270263671875
                    },
                    "rotation": {
                        "roll": -0.6509398221969604,
                        "pitch": 0.7557057738304138,
                        "yaw": -179.48895263671875
                    }
                },
                "velocity": {
                    "x": -9.588452339172363,
                    "y": -0.07225839793682098,
                    "z": 0.15351107716560364
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -850.3659057617188,
                        "y": 6486.6748046875,
                        "z": 361.14202880859375
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -833.3013916015625,
                        "y": 6486.8056640625,
                        "z": 360.9715881347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1238.157958984375,
                        "y": 6469.7822265625,
                        "z": 371.73077392578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1217.277099609375,
                        "y": 6471.9873046875,
                        "z": 371.20654296875
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1186.3411865234375,
                        "y": 6475.25537109375,
                        "z": 370.3340148925781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.493408203125,
                        "y": 6477.66845703125,
                        "z": 369.6141662597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1143.55419921875,
                        "y": 6479.77099609375,
                        "z": 368.9285583496094
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1118.7193603515625,
                        "y": 6482.06787109375,
                        "z": 368.02734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1085.4622802734375,
                        "y": 6484.15869140625,
                        "z": 366.7679748535156
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.628978729248047,
                "transform": {
                    "location": {
                        "x": -1045.6036376953125,
                        "y": 6485.19384765625,
                        "z": 365.1751403808594
                    },
                    "rotation": {
                        "roll": -0.010498045943677425,
                        "pitch": 2.302955150604248,
                        "yaw": -179.4856414794922
                    }
                },
                "velocity": {
                    "x": -9.621053695678711,
                    "y": -0.08873172849416733,
                    "z": 0.38036200404167175
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -910.8155517578125,
                        "y": 6486.2177734375,
                        "z": 362.4382629394531
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02535909041762352,
        "expert_target_speed": 8.54071813372432,
        "target_point": [
            34.58359869729952,
            1.6919172124090969
        ],
        "target_point_next": [
            86.16899284510042,
            4.9587627274341814
        ]
    },
    "680": {
        "acceleration": [
            -0.21488189697265625,
            -0.5971521139144897,
            -0.0028492510318756104
        ],
        "angular_velocity": [
            -0.03274722024798393,
            -0.044870082288980484,
            1.7354557514190674
        ],
        "forward_vector": [
            -0.9995676279067993,
            0.024375837296247482,
            0.016444535925984383
        ],
        "right_vector": [
            -0.02430594526231289,
            -0.9996947646141052,
            0.0044367448426783085
        ],
        "location": [
            -997.8153076171875,
            6485.533203125,
            363.87213134765625
        ],
        "rotation": [
            -0.2542419731616974,
            0.9422450065612793,
            178.60304260253906
        ],
        "velocity": [
            -7.479717254638672,
            0.10196450352668762,
            0.11530353128910065
        ],
        "speed": 7.480412219210844,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 28.633262634277344,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1026.4407958984375,
                6485.341796875,
                364.5113220214844
            ],
            "velocity": [
                -9.612957000732422,
                -0.07412970811128616,
                0.28735771775245667
            ],
            "speed_kmh": 34.623132081381826,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.574172019958496,
                "transform": {
                    "location": {
                        "x": -951.5957641601562,
                        "y": 6485.91162109375,
                        "z": 363.14935302734375
                    },
                    "rotation": {
                        "roll": 0.04838689789175987,
                        "pitch": 0.8688682913780212,
                        "yaw": -179.64820861816406
                    }
                },
                "velocity": {
                    "x": -9.572765350341797,
                    "y": -0.07586456835269928,
                    "z": 0.14553618431091309
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -873.214111328125,
                        "y": 6486.5029296875,
                        "z": 361.6430358886719
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.617536544799805,
                "transform": {
                    "location": {
                        "x": -1026.4407958984375,
                        "y": 6485.341796875,
                        "z": 364.5113220214844
                    },
                    "rotation": {
                        "roll": -0.00018310498853679746,
                        "pitch": 1.7307425737380981,
                        "yaw": -179.5647430419922
                    }
                },
                "velocity": {
                    "x": -9.612957000732422,
                    "y": -0.07412970811128616,
                    "z": 0.28735771775245667
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.058379650115967,
                "transform": {
                    "location": {
                        "x": -985.44677734375,
                        "y": 6485.65234375,
                        "z": 363.7171936035156
                    },
                    "rotation": {
                        "roll": 0.00033150205854326487,
                        "pitch": 0.8888534307479858,
                        "yaw": -179.56700134277344
                    }
                },
                "velocity": {
                    "x": -7.057321548461914,
                    "y": -0.05330801382660866,
                    "z": 0.10997014492750168
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -893.0941162109375,
                        "y": 6486.35107421875,
                        "z": 362.08111572265625
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.137876510620117,
                "transform": {
                    "location": {
                        "x": -931.83203125,
                        "y": 6486.064453125,
                        "z": 362.86224365234375
                    },
                    "rotation": {
                        "roll": -0.5175780653953552,
                        "pitch": 0.9132645726203918,
                        "yaw": -179.505615234375
                    }
                },
                "velocity": {
                    "x": -9.136536598205566,
                    "y": -0.07382484525442123,
                    "z": 0.1379653364419937
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -852.7578735351562,
                        "y": 6486.65625,
                        "z": 361.18463134765625
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -835.6530151367188,
                        "y": 6486.7880859375,
                        "z": 360.955078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1240.643310546875,
                        "y": 6469.52001953125,
                        "z": 371.7899475097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1219.762451171875,
                        "y": 6471.7255859375,
                        "z": 371.2713928222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1188.8265380859375,
                        "y": 6474.9931640625,
                        "z": 370.4078674316406
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.9781494140625,
                        "y": 6477.4052734375,
                        "z": 369.69580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1146.0389404296875,
                        "y": 6479.509765625,
                        "z": 369.01708984375
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1121.2095947265625,
                        "y": 6481.86474609375,
                        "z": 368.119140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1087.9578857421875,
                        "y": 6484.04296875,
                        "z": 366.8626403808594
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.626882553100586,
                "transform": {
                    "location": {
                        "x": -1048.0091552734375,
                        "y": 6485.17041015625,
                        "z": 365.27191162109375
                    },
                    "rotation": {
                        "roll": -0.00848388671875,
                        "pitch": 2.3735246658325195,
                        "yaw": -179.46275329589844
                    }
                },
                "velocity": {
                    "x": -9.618576049804688,
                    "y": -0.09297371655702591,
                    "z": 0.388862669467926
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -913.1694946289062,
                        "y": 6486.20068359375,
                        "z": 362.4849853515625
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.036139730364084244,
        "expert_target_speed": 8.59016007344829,
        "target_point": [
            32.74617570434226,
            1.021758489521451
        ],
        "target_point_next": [
            84.38526183970286,
            3.286698247620527
        ]
    },
    "685": {
        "acceleration": [
            -0.2231884002685547,
            -0.4483356475830078,
            0.016020238399505615
        ],
        "angular_velocity": [
            0.19508112967014313,
            0.2675858438014984,
            6.417320728302002
        ],
        "forward_vector": [
            -0.9998390674591064,
            0.006144001614302397,
            0.016854915767908096
        ],
        "right_vector": [
            -0.0060833836905658245,
            -0.99997478723526,
            0.0036453406792134047
        ],
        "location": [
            -999.6925659179688,
            6485.54736328125,
            363.9019775390625
        ],
        "rotation": [
            -0.20889277756214142,
            0.9657613635063171,
            179.64791870117188
        ],
        "velocity": [
            -7.534745216369629,
            -0.012828588485717773,
            0.12421510368585587
        ],
        "speed": 7.534756137280592,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 29.1600284576416,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1028.84375,
                6485.32275390625,
                364.5841369628906
            ],
            "velocity": [
                -9.606976509094238,
                -0.07222869247198105,
                0.29974812269210815
            ],
            "speed_kmh": 34.60292276431304,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.646707534790039,
                "transform": {
                    "location": {
                        "x": -953.9984741210938,
                        "y": 6485.89306640625,
                        "z": 363.1858825683594
                    },
                    "rotation": {
                        "roll": 0.04495710879564285,
                        "pitch": 0.8780549168586731,
                        "yaw": -179.6597900390625
                    }
                },
                "velocity": {
                    "x": -9.645273208618164,
                    "y": -0.07556962966918945,
                    "z": 0.14816805720329285
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -875.6275634765625,
                        "y": 6486.4833984375,
                        "z": 361.6986999511719
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.611923217773438,
                "transform": {
                    "location": {
                        "x": -1028.84375,
                        "y": 6485.32275390625,
                        "z": 364.5841369628906
                    },
                    "rotation": {
                        "roll": 0.0009425657335668802,
                        "pitch": 1.7613691091537476,
                        "yaw": -179.5638427734375
                    }
                },
                "velocity": {
                    "x": -9.606976509094238,
                    "y": -0.07222869247198105,
                    "z": 0.29974812269210815
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.244898796081543,
                "transform": {
                    "location": {
                        "x": -987.215576171875,
                        "y": 6485.638671875,
                        "z": 363.7447204589844
                    },
                    "rotation": {
                        "roll": -0.00045776323531754315,
                        "pitch": 0.9074589014053345,
                        "yaw": -179.5640411376953
                    }
                },
                "velocity": {
                    "x": -7.243814468383789,
                    "y": -0.0551452711224556,
                    "z": 0.112569160759449
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -895.3815307617188,
                        "y": 6486.33447265625,
                        "z": 362.1286926269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.20864200592041,
                "transform": {
                    "location": {
                        "x": -934.1143798828125,
                        "y": 6486.0458984375,
                        "z": 362.8970642089844
                    },
                    "rotation": {
                        "roll": -0.41015616059303284,
                        "pitch": 0.8507546782493591,
                        "yaw": -179.49462890625
                    }
                },
                "velocity": {
                    "x": -9.207297325134277,
                    "y": -0.07485415041446686,
                    "z": 0.13843022286891937
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -855.2174072265625,
                        "y": 6486.63916015625,
                        "z": 361.2305908203125
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -838.1527709960938,
                        "y": 6486.7685546875,
                        "z": 360.9757385253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1243.128662109375,
                        "y": 6469.25732421875,
                        "z": 371.84906005859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1222.247802734375,
                        "y": 6471.46337890625,
                        "z": 371.33612060546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1191.3118896484375,
                        "y": 6474.73046875,
                        "z": 370.4813537597656
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.462890625,
                        "y": 6477.14306640625,
                        "z": 369.77667236328125
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1148.5235595703125,
                        "y": 6479.24853515625,
                        "z": 369.1046447753906
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1123.699462890625,
                        "y": 6481.65869140625,
                        "z": 368.2101745605469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1090.4530029296875,
                        "y": 6483.916015625,
                        "z": 366.95709228515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.62628173828125,
                "transform": {
                    "location": {
                        "x": -1050.4140625,
                        "y": 6485.14501953125,
                        "z": 365.37017822265625
                    },
                    "rotation": {
                        "roll": -0.024536127224564552,
                        "pitch": 2.4144716262817383,
                        "yaw": -179.34466552734375
                    }
                },
                "velocity": {
                    "x": -9.617361068725586,
                    "y": -0.11860933154821396,
                    "z": 0.3969826400279999
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -915.4501342773438,
                        "y": 6486.18310546875,
                        "z": 362.53033447265625
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.019479790702462196,
        "expert_target_speed": 8.64553994286712,
        "target_point": [
            30.88205311300372,
            0.427066691939382
        ],
        "target_point_next": [
            82.5538551485319,
            1.7499587526144227
        ]
    },
    "690": {
        "acceleration": [
            0.6557655334472656,
            -0.4507637023925781,
            -0.003852546215057373
        ],
        "angular_velocity": [
            0.01451897993683815,
            -0.034049130976200104,
            0.6147950887680054
        ],
        "forward_vector": [
            -0.9998064041137695,
            -0.008772004395723343,
            0.017611784860491753
        ],
        "right_vector": [
            0.008828524500131607,
            -0.9999561309814453,
            0.0031340487767010927
        ],
        "location": [
            -1001.5768432617188,
            6485.5322265625,
            363.93310546875
        ],
        "rotation": [
            -0.1795959174633026,
            1.0091331005096436,
            -179.497314453125
        ],
        "velocity": [
            -7.490456581115723,
            -0.12715193629264832,
            0.1263146698474884
        ],
        "speed": 7.491535717627115,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 29.68012046813965,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1031.2471923828125,
                6485.3046875,
                364.659912109375
            ],
            "velocity": [
                -9.61073112487793,
                -0.07267560064792633,
                0.3116045594215393
            ],
            "speed_kmh": 34.6178013948325,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.573933601379395,
                "transform": {
                    "location": {
                        "x": -956.400390625,
                        "y": 6485.8740234375,
                        "z": 363.2227783203125
                    },
                    "rotation": {
                        "roll": 0.03521803393959999,
                        "pitch": 0.8858618140220642,
                        "yaw": -179.68038940429688
                    }
                },
                "velocity": {
                    "x": -9.572539329528809,
                    "y": -0.0731610581278801,
                    "z": 0.14608082175254822
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -877.9241333007812,
                        "y": 6486.466796875,
                        "z": 361.7508850097656
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.616055488586426,
                "transform": {
                    "location": {
                        "x": -1031.2471923828125,
                        "y": 6485.3046875,
                        "z": 364.659912109375
                    },
                    "rotation": {
                        "roll": -0.0008239743765443563,
                        "pitch": 1.9122411012649536,
                        "yaw": -179.56590270996094
                    }
                },
                "velocity": {
                    "x": -9.61073112487793,
                    "y": -0.07267560064792633,
                    "z": 0.3116045594215393
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.364362716674805,
                "transform": {
                    "location": {
                        "x": -989.0599975585938,
                        "y": 6485.625,
                        "z": 363.7734375
                    },
                    "rotation": {
                        "roll": -0.0014343264047056437,
                        "pitch": 0.9170826077461243,
                        "yaw": -179.5669403076172
                    }
                },
                "velocity": {
                    "x": -7.363254070281982,
                    "y": -0.05537420138716698,
                    "z": 0.11516677588224411
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -897.6830444335938,
                        "y": 6486.3173828125,
                        "z": 362.17596435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.244650840759277,
                "transform": {
                    "location": {
                        "x": -936.4260864257812,
                        "y": 6486.02734375,
                        "z": 362.932373046875
                    },
                    "rotation": {
                        "roll": -0.21072383224964142,
                        "pitch": 0.8684994578361511,
                        "yaw": -179.51596069335938
                    }
                },
                "velocity": {
                    "x": -9.243123054504395,
                    "y": -0.079912930727005,
                    "z": 0.1478404551744461
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -857.5911254882812,
                        "y": 6486.62060546875,
                        "z": 361.2799072265625
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -840.4869995117188,
                        "y": 6486.75,
                        "z": 361.0001220703125
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33555,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1245.614013671875,
                        "y": 6468.99560546875,
                        "z": 371.9080810546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1224.733154296875,
                        "y": 6471.20068359375,
                        "z": 371.3995361328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1193.7972412109375,
                        "y": 6474.4677734375,
                        "z": 370.55389404296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.9476318359375,
                        "y": 6476.88037109375,
                        "z": 369.8567199707031
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.008056640625,
                        "y": 6478.986328125,
                        "z": 369.1912841796875
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1126.1883544921875,
                        "y": 6481.44287109375,
                        "z": 368.3003845214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1092.9481201171875,
                        "y": 6483.7880859375,
                        "z": 367.0517883300781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.627031326293945,
                "transform": {
                    "location": {
                        "x": -1052.8184814453125,
                        "y": 6485.1142578125,
                        "z": 365.4695739746094
                    },
                    "rotation": {
                        "roll": -0.0212707482278347,
                        "pitch": 2.4097111225128174,
                        "yaw": -179.25648498535156
                    }
                },
                "velocity": {
                    "x": -9.618032455444336,
                    "y": -0.12584879994392395,
                    "z": 0.3966803550720215
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -917.7601318359375,
                        "y": 6486.16552734375,
                        "z": 362.5762939453125
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.012776865623891354,
        "expert_target_speed": 8.60593763709582,
        "target_point": [
            29.00064993683673,
            -0.03227636489402652
        ],
        "target_point_next": [
            80.68643673630442,
            0.5196402257086487
        ]
    },
    "695": {
        "acceleration": [
            0.8327770233154297,
            -0.13454854488372803,
            0.008873343467712402
        ],
        "angular_velocity": [
            0.3812551498413086,
            -0.15170949697494507,
            4.980635643005371
        ],
        "forward_vector": [
            -0.9996286630630493,
            -0.02153731696307659,
            0.016694843769073486
        ],
        "right_vector": [
            0.021574802696704865,
            -0.9997650980949402,
            0.0020684527698904276
        ],
        "location": [
            -1003.4224853515625,
            6485.49462890625,
            363.9652404785156
        ],
        "rotation": [
            -0.11853021383285522,
            0.9565884470939636,
            -178.76573181152344
        ],
        "velocity": [
            -7.284581661224365,
            -0.18881554901599884,
            0.12703636288642883
        ],
        "speed": 7.2870282894055345,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 30.23731803894043,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1033.649169921875,
                6485.2861328125,
                364.7394714355469
            ],
            "velocity": [
                -9.606705665588379,
                -0.07295452058315277,
                0.31757432222366333
            ],
            "speed_kmh": 34.6040287461539,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.646464347839355,
                "transform": {
                    "location": {
                        "x": -958.8029174804688,
                        "y": 6485.85546875,
                        "z": 363.25994873046875
                    },
                    "rotation": {
                        "roll": 0.027918994426727295,
                        "pitch": 0.8913055062294006,
                        "yaw": -179.67816162109375
                    }
                },
                "velocity": {
                    "x": -9.64501953125,
                    "y": -0.07304856181144714,
                    "z": 0.15012149512767792
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -880.2379760742188,
                        "y": 6486.44970703125,
                        "z": 361.8031311035156
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.61223030090332,
                "transform": {
                    "location": {
                        "x": -1033.649169921875,
                        "y": 6485.2861328125,
                        "z": 364.7394714355469
                    },
                    "rotation": {
                        "roll": 0.0018191151320934296,
                        "pitch": 1.9062851667404175,
                        "yaw": -179.56512451171875
                    }
                },
                "velocity": {
                    "x": -9.606705665588379,
                    "y": -0.07295452058315277,
                    "z": 0.31757432222366333
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.0285186767578125,
                "transform": {
                    "location": {
                        "x": -990.8580932617188,
                        "y": 6485.61181640625,
                        "z": 363.8019104003906
                    },
                    "rotation": {
                        "roll": 0.0003583068901207298,
                        "pitch": 0.8747491240501404,
                        "yaw": -179.5677947998047
                    }
                },
                "velocity": {
                    "x": -7.027438640594482,
                    "y": -0.05308855324983597,
                    "z": 0.11117786169052124
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -899.9977416992188,
                        "y": 6486.2998046875,
                        "z": 362.22259521484375
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.241473197937012,
                "transform": {
                    "location": {
                        "x": -938.7363891601562,
                        "y": 6486.0087890625,
                        "z": 362.9676513671875
                    },
                    "rotation": {
                        "roll": -0.0768737643957138,
                        "pitch": 0.8955333828926086,
                        "yaw": -179.52487182617188
                    }
                },
                "velocity": {
                    "x": -9.240137100219727,
                    "y": -0.07697359472513199,
                    "z": 0.13698090612888336
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -860.0545043945312,
                        "y": 6486.6025390625,
                        "z": 361.3330078125
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -842.9866333007812,
                        "y": 6486.73193359375,
                        "z": 361.03076171875
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1227.218505859375,
                        "y": 6470.9384765625,
                        "z": 371.4627685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1196.2825927734375,
                        "y": 6474.20556640625,
                        "z": 370.6261901855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1173.4326171875,
                        "y": 6476.6181640625,
                        "z": 369.9359436035156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.49267578125,
                        "y": 6478.72412109375,
                        "z": 369.277099609375
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1128.677001953125,
                        "y": 6481.22412109375,
                        "z": 368.3904113769531
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1095.442626953125,
                        "y": 6483.6494140625,
                        "z": 367.146240234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.626954078674316,
                "transform": {
                    "location": {
                        "x": -1055.222900390625,
                        "y": 6485.0791015625,
                        "z": 365.5685729980469
                    },
                    "rotation": {
                        "roll": -0.0394592322409153,
                        "pitch": 2.403837203979492,
                        "yaw": -179.10549926757812
                    }
                },
                "velocity": {
                    "x": -9.617462158203125,
                    "y": -0.16002637147903442,
                    "z": 0.3963097333908081
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -920.070068359375,
                        "y": 6486.1474609375,
                        "z": 362.6222229003906
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06013132259249687,
        "expert_target_speed": 8.40913230325096,
        "target_point": [
            27.151850167955494,
            -0.4003847907664505
        ],
        "target_point_next": [
            78.84047071958344,
            -0.5084332652386614
        ]
    },
    "700": {
        "acceleration": [
            0.3315544128417969,
            0.10186880826950073,
            0.06888717412948608
        ],
        "angular_velocity": [
            0.2157880812883377,
            0.4962015748023987,
            -3.2343909740448
        ],
        "forward_vector": [
            -0.9995655417442322,
            -0.024082724004983902,
            0.016995802521705627
        ],
        "right_vector": [
            0.024092381820082664,
            -0.9997097253799438,
            0.0003637352492660284
        ],
        "location": [
            -1005.2232666015625,
            6485.45068359375,
            363.9970703125
        ],
        "rotation": [
            -0.02084350399672985,
            0.9738346338272095,
            -178.6198272705078
        ],
        "velocity": [
            -7.147903919219971,
            -0.16931650042533875,
            0.13486169278621674
        ],
        "speed": 7.14990898653378,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 30.840059280395508,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1036.0517578125,
                6485.26806640625,
                364.8217468261719
            ],
            "velocity": [
                -9.607149124145508,
                -0.07228589802980423,
                0.33095189929008484
            ],
            "speed_kmh": 34.6072306087515,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.573894500732422,
                "transform": {
                    "location": {
                        "x": -961.2047729492188,
                        "y": 6485.83740234375,
                        "z": 363.2969055175781
                    },
                    "rotation": {
                        "roll": 0.006952749099582434,
                        "pitch": 0.8751930594444275,
                        "yaw": -179.68692016601562
                    }
                },
                "velocity": {
                    "x": -9.572503089904785,
                    "y": -0.07100500911474228,
                    "z": 0.146967351436615
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -882.5843505859375,
                        "y": 6486.431640625,
                        "z": 361.8551330566406
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.613120079040527,
                "transform": {
                    "location": {
                        "x": -1036.0517578125,
                        "y": 6485.26806640625,
                        "z": 364.8217468261719
                    },
                    "rotation": {
                        "roll": -3.051829116884619e-05,
                        "pitch": 2.0339550971984863,
                        "yaw": -179.56863403320312
                    }
                },
                "velocity": {
                    "x": -9.607149124145508,
                    "y": -0.07228589802980423,
                    "z": 0.33095189929008484
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.847081184387207,
                "transform": {
                    "location": {
                        "x": -992.583251953125,
                        "y": 6485.5986328125,
                        "z": 363.8289489746094
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": 0.8816680908203125,
                        "yaw": -179.5675811767578
                    }
                },
                "velocity": {
                    "x": -6.846038818359375,
                    "y": -0.05170435830950737,
                    "z": 0.10770305246114731
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -902.3005981445312,
                        "y": 6486.28173828125,
                        "z": 362.26873779296875
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.202838897705078,
                "transform": {
                    "location": {
                        "x": -941.0401611328125,
                        "y": 6485.98974609375,
                        "z": 363.0015869140625
                    },
                    "rotation": {
                        "roll": -0.07473751902580261,
                        "pitch": 0.7972196340560913,
                        "yaw": -179.54444885253906
                    }
                },
                "velocity": {
                    "x": -9.201542854309082,
                    "y": -0.07279947400093079,
                    "z": 0.1362135410308838
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -862.400146484375,
                        "y": 6486.58447265625,
                        "z": 361.3878479003906
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -845.296875,
                        "y": 6486.71435546875,
                        "z": 361.061279296875
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1229.703857421875,
                        "y": 6470.67626953125,
                        "z": 371.5246276855469
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1198.7679443359375,
                        "y": 6473.94287109375,
                        "z": 370.6975402832031
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1175.9173583984375,
                        "y": 6476.35595703125,
                        "z": 370.0142822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.9771728515625,
                        "y": 6478.4619140625,
                        "z": 369.3620910644531
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1131.164794921875,
                        "y": 6480.99609375,
                        "z": 368.48052978515625
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1097.9371337890625,
                        "y": 6483.5087890625,
                        "z": 367.240966796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.626626968383789,
                "transform": {
                    "location": {
                        "x": -1057.627197265625,
                        "y": 6485.0380859375,
                        "z": 365.6676025390625
                    },
                    "rotation": {
                        "roll": -0.027770988643169403,
                        "pitch": 2.406412124633789,
                        "yaw": -178.9929962158203
                    }
                },
                "velocity": {
                    "x": -9.61691665649414,
                    "y": -0.17272897064685822,
                    "z": 0.39625486731529236
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -922.3751220703125,
                        "y": 6486.1298828125,
                        "z": 362.66802978515625
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.08350363373756409,
        "expert_target_speed": 8.277765623968968,
        "target_point": [
            25.349425126220865,
            -0.4700913736893677
        ],
        "target_point_next": [
            77.0376028723222,
            -0.709779275857654
        ]
    },
    "705": {
        "acceleration": [
            0.13068199157714844,
            0.06593436002731323,
            -0.019207298755645752
        ],
        "angular_velocity": [
            0.09111631661653519,
            0.5640425086021423,
            2.4801957607269287
        ],
        "forward_vector": [
            -0.9995498657226562,
            -0.022737296298146248,
            0.019574105739593506
        ],
        "right_vector": [
            0.022735847160220146,
            -0.9997414350509644,
            -0.00029650016222149134
        ],
        "location": [
            -1007.0054321289062,
            6485.41064453125,
            364.0307312011719
        ],
        "rotation": [
            0.01699146255850792,
            1.1215852499008179,
            -178.69688415527344
        ],
        "velocity": [
            -7.106655597686768,
            -0.1523926556110382,
            0.13510875403881073
        ],
        "speed": 7.108289337500047,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 31.460800170898438,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1038.45361328125,
                6485.25,
                364.9071350097656
            ],
            "velocity": [
                -9.603293418884277,
                -0.07242874801158905,
                0.3492979407310486
            ],
            "speed_kmh": 34.59570021050364,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.646039009094238,
                "transform": {
                    "location": {
                        "x": -963.607421875,
                        "y": 6485.81982421875,
                        "z": 363.3342590332031
                    },
                    "rotation": {
                        "roll": 0.011965487152338028,
                        "pitch": 0.9020084142684937,
                        "yaw": -179.67811584472656
                    }
                },
                "velocity": {
                    "x": -9.644598007202148,
                    "y": -0.07270430773496628,
                    "z": 0.15002340078353882
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -884.8889770507812,
                        "y": 6486.41357421875,
                        "z": 361.9058532714844
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.609916687011719,
                "transform": {
                    "location": {
                        "x": -1038.45361328125,
                        "y": 6485.25,
                        "z": 364.9071350097656
                    },
                    "rotation": {
                        "roll": -0.00018310539599042386,
                        "pitch": 2.0905978679656982,
                        "yaw": -179.5679931640625
                    }
                },
                "velocity": {
                    "x": -9.603293418884277,
                    "y": -0.07242874801158905,
                    "z": 0.3492979407310486
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.907325744628906,
                "transform": {
                    "location": {
                        "x": -994.3051147460938,
                        "y": 6485.5859375,
                        "z": 363.8557434082031
                    },
                    "rotation": {
                        "roll": -0.00012207045801915228,
                        "pitch": 0.89903724193573,
                        "yaw": -179.56785583496094
                    }
                },
                "velocity": {
                    "x": -6.90627908706665,
                    "y": -0.052094314247369766,
                    "z": 0.10837224870920181
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -904.6085205078125,
                        "y": 6486.2646484375,
                        "z": 362.3147888183594
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.256841659545898,
                "transform": {
                    "location": {
                        "x": -943.3485107421875,
                        "y": 6485.97216796875,
                        "z": 363.0351867675781
                    },
                    "rotation": {
                        "roll": -0.0642700120806694,
                        "pitch": 0.8561710119247437,
                        "yaw": -179.56512451171875
                    }
                },
                "velocity": {
                    "x": -9.25557804107666,
                    "y": -0.06887762993574142,
                    "z": 0.13652251660823822
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -864.8993530273438,
                        "y": 6486.5654296875,
                        "z": 361.4466247558594
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -847.7964477539062,
                        "y": 6486.69482421875,
                        "z": 361.09954833984375
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1232.189208984375,
                        "y": 6470.41357421875,
                        "z": 371.58636474609375
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1201.2532958984375,
                        "y": 6473.6806640625,
                        "z": 370.7684326171875
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1178.402099609375,
                        "y": 6476.09375,
                        "z": 370.0917053222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.461669921875,
                        "y": 6478.19970703125,
                        "z": 369.44622802734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1133.6522216796875,
                        "y": 6480.76416015625,
                        "z": 368.5705261230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1100.430419921875,
                        "y": 6483.35595703125,
                        "z": 367.33538818359375
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.626615524291992,
                "transform": {
                    "location": {
                        "x": -1060.03125,
                        "y": 6484.99169921875,
                        "z": 365.76666259765625
                    },
                    "rotation": {
                        "roll": -0.0429382361471653,
                        "pitch": 2.4078805446624756,
                        "yaw": -178.83055114746094
                    }
                },
                "velocity": {
                    "x": -9.61626148223877,
                    "y": -0.20619706809520721,
                    "z": 0.39587774872779846
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -924.6812133789062,
                        "y": 6486.1123046875,
                        "z": 362.7131042480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.10110052675008774,
        "expert_target_speed": 8.239200233770367,
        "target_point": [
            23.567419369286437,
            -0.4354911251000263
        ],
        "target_point_next": [
            75.25587276974483,
            -0.6056500850557534
        ]
    },
    "710": {
        "acceleration": [
            0.24611473083496094,
            0.06402790546417236,
            0.017383098602294922
        ],
        "angular_velocity": [
            -0.015167715027928352,
            -0.03367394581437111,
            -3.4584157466888428
        ],
        "forward_vector": [
            -0.9995865225791931,
            -0.02012994885444641,
            0.020533308386802673
        ],
        "right_vector": [
            0.020123597234487534,
            -0.9997974038124084,
            -0.0005160096916370094
        ],
        "location": [
            -1008.7769165039062,
            6485.3740234375,
            364.0658264160156
        ],
        "rotation": [
            0.0295714121311903,
            1.1765546798706055,
            -178.8463134765625
        ],
        "velocity": [
            -7.057791709899902,
            -0.13587401807308197,
            0.1456315964460373
        ],
        "speed": 7.05909948712434,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 32.09208679199219,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1040.855224609375,
                6485.23193359375,
                364.9953308105469
            ],
            "velocity": [
                -9.6046724319458,
                -0.0713050365447998,
                0.36079519987106323
            ],
            "speed_kmh": 34.60215992996223,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.573443412780762,
                "transform": {
                    "location": {
                        "x": -966.0092163085938,
                        "y": 6485.8017578125,
                        "z": 363.3718566894531
                    },
                    "rotation": {
                        "roll": 0.0104308370500803,
                        "pitch": 0.9043716192245483,
                        "yaw": -179.67935180664062
                    }
                },
                "velocity": {
                    "x": -9.571990966796875,
                    "y": -0.0716577023267746,
                    "z": 0.15055403113365173
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -887.2373046875,
                        "y": 6486.39599609375,
                        "z": 361.9566345214844
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.611710548400879,
                "transform": {
                    "location": {
                        "x": -1040.855224609375,
                        "y": 6485.23193359375,
                        "z": 364.9953308105469
                    },
                    "rotation": {
                        "roll": 9.727630640554707e-06,
                        "pitch": 2.1400210857391357,
                        "yaw": -179.56907653808594
                    }
                },
                "velocity": {
                    "x": -9.6046724319458,
                    "y": -0.0713050365447998,
                    "z": 0.36079519987106323
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.777964115142822,
                "transform": {
                    "location": {
                        "x": -996.01513671875,
                        "y": 6485.57373046875,
                        "z": 363.8825378417969
                    },
                    "rotation": {
                        "roll": -9.155271982308477e-05,
                        "pitch": 0.8936960697174072,
                        "yaw": -179.56741333007812
                    }
                },
                "velocity": {
                    "x": -6.776930332183838,
                    "y": -0.05118587240576744,
                    "z": 0.10672349482774734
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -906.9144897460938,
                        "y": 6486.24658203125,
                        "z": 362.3606262207031
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.20364761352539,
                "transform": {
                    "location": {
                        "x": -945.6552734375,
                        "y": 6485.955078125,
                        "z": 363.0703430175781
                    },
                    "rotation": {
                        "roll": 0.016645057126879692,
                        "pitch": 0.8788540363311768,
                        "yaw": -179.56170654296875
                    }
                },
                "velocity": {
                    "x": -9.202335357666016,
                    "y": -0.06991884112358093,
                    "z": 0.13882692158222198
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -867.2454223632812,
                        "y": 6486.5478515625,
                        "z": 361.5025939941406
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -850.1428833007812,
                        "y": 6486.67822265625,
                        "z": 361.1373291015625
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1234.674560546875,
                        "y": 6470.15185546875,
                        "z": 371.6466979980469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1203.7386474609375,
                        "y": 6473.41845703125,
                        "z": 370.8381652832031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1180.886962890625,
                        "y": 6475.8310546875,
                        "z": 370.1684265136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.946044921875,
                        "y": 6477.9365234375,
                        "z": 369.5295715332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1136.1387939453125,
                        "y": 6480.52294921875,
                        "z": 368.66064453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1102.9239501953125,
                        "y": 6483.20361328125,
                        "z": 367.4300231933594
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.627490043640137,
                "transform": {
                    "location": {
                        "x": -1062.4354248046875,
                        "y": 6484.9384765625,
                        "z": 365.8654479980469
                    },
                    "rotation": {
                        "roll": -0.0295715294778347,
                        "pitch": 2.3920891284942627,
                        "yaw": -178.72244262695312
                    }
                },
                "velocity": {
                    "x": -9.616995811462402,
                    "y": -0.2178695946931839,
                    "z": 0.39304670691490173
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -926.9892578125,
                        "y": 6486.09423828125,
                        "z": 362.75701904296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11726108938455582,
        "expert_target_speed": 8.193312897541693,
        "target_point": [
            21.796612305793943,
            -0.3749757326144406
        ],
        "target_point_next": [
            73.48533369039087,
            -0.41033995921019994
        ]
    },
    "715": {
        "acceleration": [
            0.4704093933105469,
            0.050666630268096924,
            0.03664880990982056
        ],
        "angular_velocity": [
            0.07447856664657593,
            0.030802756547927856,
            2.7065749168395996
        ],
        "forward_vector": [
            -0.9996146559715271,
            -0.01893461123108864,
            0.02029947005212307
        ],
        "right_vector": [
            0.018928108736872673,
            -0.9998207092285156,
            -0.0005124204908497632
        ],
        "location": [
            -1010.5307006835938,
            6485.341796875,
            364.10205078125
        ],
        "rotation": [
            0.029365582391619682,
            1.163153886795044,
            -178.9148406982422
        ],
        "velocity": [
            -6.966503143310547,
            -0.12460426986217499,
            0.146488755941391
        ],
        "speed": 6.967617402658072,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 32.741188049316406,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1043.2568359375,
                6485.21337890625,
                365.0865173339844
            ],
            "velocity": [
                -9.599331855773926,
                -0.07349183410406113,
                0.3744639456272125
            ],
            "speed_kmh": 34.58489035693129,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.646590232849121,
                "transform": {
                    "location": {
                        "x": -968.41162109375,
                        "y": 6485.78369140625,
                        "z": 363.4095764160156
                    },
                    "rotation": {
                        "roll": 0.0057070013135671616,
                        "pitch": 0.8924598097801208,
                        "yaw": -179.66722106933594
                    }
                },
                "velocity": {
                    "x": -9.645136833190918,
                    "y": -0.07354986667633057,
                    "z": 0.1504334956407547
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -889.54248046875,
                        "y": 6486.37841796875,
                        "z": 362.00634765625
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.606913566589355,
                "transform": {
                    "location": {
                        "x": -1043.2568359375,
                        "y": 6485.21337890625,
                        "z": 365.0865173339844
                    },
                    "rotation": {
                        "roll": -0.00039672752609476447,
                        "pitch": 2.2765018939971924,
                        "yaw": -179.5607452392578
                    }
                },
                "velocity": {
                    "x": -9.599331855773926,
                    "y": -0.07349183410406113,
                    "z": 0.3744639456272125
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.7790045738220215,
                "transform": {
                    "location": {
                        "x": -997.7092895507812,
                        "y": 6485.560546875,
                        "z": 363.9090270996094
                    },
                    "rotation": {
                        "roll": 0.00010078072955366224,
                        "pitch": 0.895410418510437,
                        "yaw": -179.56150817871094
                    }
                },
                "velocity": {
                    "x": -6.777961254119873,
                    "y": -0.05200178921222687,
                    "z": 0.1069600060582161
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -909.2219848632812,
                        "y": 6486.22998046875,
                        "z": 362.4065246582031
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.252814292907715,
                "transform": {
                    "location": {
                        "x": -947.9620361328125,
                        "y": 6485.9375,
                        "z": 363.10546875
                    },
                    "rotation": {
                        "roll": 0.058749161660671234,
                        "pitch": 0.8544020056724548,
                        "yaw": -179.556396484375
                    }
                },
                "velocity": {
                    "x": -9.251480102539062,
                    "y": -0.07240894436836243,
                    "z": 0.13944260776042938
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -869.7070922851562,
                        "y": 6486.52978515625,
                        "z": 361.561279296875
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -852.6049194335938,
                        "y": 6486.6591796875,
                        "z": 361.181640625
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -830.8027954101562,
                        "y": 6486.82421875,
                        "z": 361.04840087890625
                    },
                    "rotation": {
                        "roll": 1.0422199908655116e-10,
                        "pitch": 0.3164972960948944,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.159912109375,
                        "y": 6469.88916015625,
                        "z": 371.70697021484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1206.2239990234375,
                        "y": 6473.1552734375,
                        "z": 370.9075622558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1183.3721923828125,
                        "y": 6475.5693359375,
                        "z": 370.2442932128906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.4307861328125,
                        "y": 6477.67431640625,
                        "z": 369.6120910644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1138.6248779296875,
                        "y": 6480.27587890625,
                        "z": 368.7506103515625
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1105.416748046875,
                        "y": 6483.03857421875,
                        "z": 367.52447509765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.626930236816406,
                "transform": {
                    "location": {
                        "x": -1064.83935546875,
                        "y": 6484.88232421875,
                        "z": 365.9635925292969
                    },
                    "rotation": {
                        "roll": -0.041412342339754105,
                        "pitch": 2.3789889812469482,
                        "yaw": -178.60064697265625
                    }
                },
                "velocity": {
                    "x": -9.615720748901367,
                    "y": -0.24832695722579956,
                    "z": 0.39246702194213867
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -929.2944946289062,
                        "y": 6486.0771484375,
                        "z": 362.79937744140625
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.13607759773731232,
        "expert_target_speed": 8.105674353501538,
        "target_point": [
            20.04296519349046,
            -0.34791486085478474
        ],
        "target_point_next": [
            71.73169190795414,
            -0.32146414253165423
        ]
    },
    "720": {
        "acceleration": [
            0.4051017761230469,
            0.04852399230003357,
            -0.011151134967803955
        ],
        "angular_velocity": [
            -0.05628523975610733,
            0.4697921872138977,
            -3.3726584911346436
        ],
        "forward_vector": [
            -0.9996172785758972,
            -0.01695757545530796,
            0.021858379244804382
        ],
        "right_vector": [
            0.016951218247413635,
            -0.999856173992157,
            -0.0004760395095217973
        ],
        "location": [
            -1012.2567138671875,
            6485.3115234375,
            364.1398620605469
        ],
        "rotation": [
            0.02728157304227352,
            1.2524926662445068,
            -179.0281219482422
        ],
        "velocity": [
            -6.8460259437561035,
            -0.11223985254764557,
            0.15359660983085632
        ],
        "speed": 6.846945962038956,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 33.417076110839844,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1045.6573486328125,
                6485.19287109375,
                365.18121337890625
            ],
            "velocity": [
                -9.604620933532715,
                -0.08648866415023804,
                0.3790550231933594
            ],
            "speed_kmh": 34.604953190884444,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.573362350463867,
                "transform": {
                    "location": {
                        "x": -970.8134155273438,
                        "y": 6485.765625,
                        "z": 363.4468688964844
                    },
                    "rotation": {
                        "roll": 0.0003199158236384392,
                        "pitch": 0.8923915028572083,
                        "yaw": -179.67401123046875
                    }
                },
                "velocity": {
                    "x": -9.571916580200195,
                    "y": -0.07189521193504333,
                    "z": 0.15001992881298065
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -891.8502807617188,
                        "y": 6486.361328125,
                        "z": 362.05487060546875
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.612486839294434,
                "transform": {
                    "location": {
                        "x": -1045.6573486328125,
                        "y": 6485.19287109375,
                        "z": 365.18121337890625
                    },
                    "rotation": {
                        "roll": -0.0016479484038427472,
                        "pitch": 2.2665843963623047,
                        "yaw": -179.49560546875
                    }
                },
                "velocity": {
                    "x": -9.604620933532715,
                    "y": -0.08648866415023804,
                    "z": 0.3790550231933594
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.6693315505981445,
                "transform": {
                    "location": {
                        "x": -999.388671875,
                        "y": 6485.5478515625,
                        "z": 363.9358215332031
                    },
                    "rotation": {
                        "roll": 0.0007797589641995728,
                        "pitch": 0.9141387939453125,
                        "yaw": -179.56126403808594
                    }
                },
                "velocity": {
                    "x": -6.668200969696045,
                    "y": -0.05112457275390625,
                    "z": 0.11164392530918121
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -911.527587890625,
                        "y": 6486.2119140625,
                        "z": 362.4523620605469
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.205891609191895,
                "transform": {
                    "location": {
                        "x": -950.2689819335938,
                        "y": 6485.919921875,
                        "z": 363.1401062011719
                    },
                    "rotation": {
                        "roll": 0.052380647510290146,
                        "pitch": 0.858370304107666,
                        "yaw": -179.5535430908203
                    }
                },
                "velocity": {
                    "x": -9.204571723937988,
                    "y": -0.0718388557434082,
                    "z": 0.1383441537618637
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -872.012451171875,
                        "y": 6486.51123046875,
                        "z": 361.6150817871094
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -854.9501342773438,
                        "y": 6486.6416015625,
                        "z": 361.22564697265625
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -833.3014526367188,
                        "y": 6486.8056640625,
                        "z": 360.9715881347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1239.645263671875,
                        "y": 6469.6259765625,
                        "z": 371.76617431640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1208.7093505859375,
                        "y": 6472.89306640625,
                        "z": 370.97589111328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1185.8575439453125,
                        "y": 6475.306640625,
                        "z": 370.31939697265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.91552734375,
                        "y": 6477.41162109375,
                        "z": 369.6937561035156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.1107177734375,
                        "y": 6480.0234375,
                        "z": 368.8406982421875
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1107.9095458984375,
                        "y": 6482.873046875,
                        "z": 367.6191711425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.6279935836792,
                "transform": {
                    "location": {
                        "x": -1067.2431640625,
                        "y": 6484.81787109375,
                        "z": 366.0606689453125
                    },
                    "rotation": {
                        "roll": -0.0358886681497097,
                        "pitch": 2.3446602821350098,
                        "yaw": -178.44993591308594
                    }
                },
                "velocity": {
                    "x": -9.616521835327148,
                    "y": -0.2651659846305847,
                    "z": 0.3878876268863678
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -931.6027221679688,
                        "y": 6486.05908203125,
                        "z": 362.83819580078125
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.153633713722229,
        "expert_target_speed": 7.989449188686954,
        "target_point": [
            18.317335619903325,
            -0.30927328970207935
        ],
        "target_point_next": [
            70.0059089708385,
            -0.18061114295888459
        ]
    },
    "725": {
        "acceleration": [
            -0.3072166442871094,
            0.03868386149406433,
            0.05471318960189819
        ],
        "angular_velocity": [
            0.09211400896310806,
            0.21974559128284454,
            2.6786186695098877
        ],
        "forward_vector": [
            -0.9995876550674438,
            -0.01607862301170826,
            0.023790618404746056
        ],
        "right_vector": [
            0.01607191003859043,
            -0.9998707175254822,
            -0.0004733535461127758
        ],
        "location": [
            -1013.9645385742188,
            6485.28466796875,
            364.17822265625
        ],
        "rotation": [
            0.02712884172797203,
            1.363230586051941,
            -179.07846069335938
        ],
        "velocity": [
            -6.840412616729736,
            -0.10226505994796753,
            0.16075542569160461
        ],
        "speed": 6.841177012006159,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 34.111602783203125,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1048.0582275390625,
                6485.17041015625,
                365.27764892578125
            ],
            "velocity": [
                -9.59858512878418,
                -0.09238345921039581,
                0.38420233130455017
            ],
            "speed_kmh": 34.58417578341637,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.646275520324707,
                "transform": {
                    "location": {
                        "x": -973.2159423828125,
                        "y": 6485.74755859375,
                        "z": 363.4844055175781
                    },
                    "rotation": {
                        "roll": -0.002319335239008069,
                        "pitch": 0.8987708687782288,
                        "yaw": -179.66702270507812
                    }
                },
                "velocity": {
                    "x": -9.64482307434082,
                    "y": -0.07339359819889069,
                    "z": 0.15042147040367126
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -894.1563720703125,
                        "y": 6486.34423828125,
                        "z": 362.1034240722656
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.60671615600586,
                "transform": {
                    "location": {
                        "x": -1048.0582275390625,
                        "y": 6485.17041015625,
                        "z": 365.27764892578125
                    },
                    "rotation": {
                        "roll": -0.0012512195389717817,
                        "pitch": 2.3547894954681396,
                        "yaw": -179.45245361328125
                    }
                },
                "velocity": {
                    "x": -9.59858512878418,
                    "y": -0.09238345921039581,
                    "z": 0.38420233130455017
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.524107456207275,
                "transform": {
                    "location": {
                        "x": -1001.0372314453125,
                        "y": 6485.53466796875,
                        "z": 363.9630432128906
                    },
                    "rotation": {
                        "roll": 0.00119054748211056,
                        "pitch": 0.9612329602241516,
                        "yaw": -179.56085205078125
                    }
                },
                "velocity": {
                    "x": -6.522977352142334,
                    "y": -0.05002504214644432,
                    "z": 0.11063508689403534
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -913.8384399414062,
                        "y": 6486.19482421875,
                        "z": 362.49835205078125
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.495367050170898,
                "transform": {
                    "location": {
                        "x": -952.5924682617188,
                        "y": 6485.90185546875,
                        "z": 363.1755065917969
                    },
                    "rotation": {
                        "roll": 0.04660317674279213,
                        "pitch": 0.8449968099594116,
                        "yaw": -179.5511016845703
                    }
                },
                "velocity": {
                    "x": -9.493985176086426,
                    "y": -0.07452843338251114,
                    "z": 0.14378686249256134
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -874.4744262695312,
                        "y": 6486.4921875,
                        "z": 361.6722717285156
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -857.3724975585938,
                        "y": 6486.62255859375,
                        "z": 361.2756042480469
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -835.8006591796875,
                        "y": 6486.7861328125,
                        "z": 360.9539794921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1242.130615234375,
                        "y": 6469.36279296875,
                        "z": 371.8253479003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1211.1947021484375,
                        "y": 6472.63037109375,
                        "z": 371.0437927246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1188.3428955078125,
                        "y": 6475.04443359375,
                        "z": 370.39361572265625
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.400146484375,
                        "y": 6477.1494140625,
                        "z": 369.7746887207031
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1143.595947265625,
                        "y": 6479.7666015625,
                        "z": 368.92999267578125
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1110.401611328125,
                        "y": 6482.69482421875,
                        "z": 367.713623046875
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.628387451171875,
                "transform": {
                    "location": {
                        "x": -1069.6470947265625,
                        "y": 6484.7490234375,
                        "z": 366.15679931640625
                    },
                    "rotation": {
                        "roll": -0.0426635704934597,
                        "pitch": 2.321027994155884,
                        "yaw": -178.31236267089844
                    }
                },
                "velocity": {
                    "x": -9.616353988647461,
                    "y": -0.2963164448738098,
                    "z": 0.3791690766811371
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -933.9178466796875,
                        "y": 6486.04150390625,
                        "z": 362.8761291503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.16594047844409943,
        "expert_target_speed": 7.985591421066159,
        "target_point": [
            16.609564605491975,
            -0.2925606877464547
        ],
        "target_point_next": [
            68.29800492698425,
            -0.11847411576841349
        ]
    },
    "730": {
        "acceleration": [
            -1.6598320007324219,
            0.033615678548812866,
            0.020543038845062256
        ],
        "angular_velocity": [
            -0.09697939455509186,
            0.4244208037853241,
            -3.2666029930114746
        ],
        "forward_vector": [
            -0.9995869398117065,
            -0.013946594670414925,
            0.025128459557890892
        ],
        "right_vector": [
            0.013938593678176403,
            -0.9999027252197266,
            -0.0004935409524478018
        ],
        "location": [
            -1015.703125,
            6485.259765625,
            364.2192077636719
        ],
        "rotation": [
            0.02828674577176571,
            1.4399062395095825,
            -179.2006378173828
        ],
        "velocity": [
            -7.110825538635254,
            -0.09253598004579544,
            0.16747038066387177
        ],
        "speed": 7.111427616766579,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 34.774681091308594,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1050.4583740234375,
                6485.14501953125,
                365.3758544921875
            ],
            "velocity": [
                -9.601696014404297,
                -0.11414552479982376,
                0.3960475027561188
            ],
            "speed_kmh": 34.59793839740671,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.573448181152344,
                "transform": {
                    "location": {
                        "x": -975.6177368164062,
                        "y": 6485.728515625,
                        "z": 363.52197265625
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": 0.89862060546875,
                        "yaw": -179.6737518310547
                    }
                },
                "velocity": {
                    "x": -9.572011947631836,
                    "y": -0.07181413471698761,
                    "z": 0.1494932919740677
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -896.5244140625,
                        "y": 6486.32666015625,
                        "z": 362.1521301269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.610538482666016,
                "transform": {
                    "location": {
                        "x": -1050.4583740234375,
                        "y": 6485.14501953125,
                        "z": 365.3758544921875
                    },
                    "rotation": {
                        "roll": -0.006927490234375,
                        "pitch": 2.3782308101654053,
                        "yaw": -179.34825134277344
                    }
                },
                "velocity": {
                    "x": -9.601696014404297,
                    "y": -0.11414552479982376,
                    "z": 0.3960475027561188
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.70054292678833,
                "transform": {
                    "location": {
                        "x": -1002.6764526367188,
                        "y": 6485.5224609375,
                        "z": 363.9906921386719
                    },
                    "rotation": {
                        "roll": -0.0005187992355786264,
                        "pitch": 1.009481430053711,
                        "yaw": -179.560791015625
                    }
                },
                "velocity": {
                    "x": -6.699348449707031,
                    "y": -0.05127411335706711,
                    "z": 0.11566492170095444
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -916.2249755859375,
                        "y": 6486.17724609375,
                        "z": 362.5457763671875
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.528851509094238,
                "transform": {
                    "location": {
                        "x": -954.997802734375,
                        "y": 6485.8828125,
                        "z": 363.21209716796875
                    },
                    "rotation": {
                        "roll": 0.04162183776497841,
                        "pitch": 0.861997127532959,
                        "yaw": -179.56069946289062
                    }
                },
                "velocity": {
                    "x": -9.527462005615234,
                    "y": -0.07326490432024002,
                    "z": 0.14528903365135193
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -876.8189697265625,
                        "y": 6486.47509765625,
                        "z": 361.72564697265625
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -859.7391967773438,
                        "y": 6486.60498046875,
                        "z": 361.3252258300781
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -838.30029296875,
                        "y": 6486.767578125,
                        "z": 360.9762268066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1244.615966796875,
                        "y": 6469.1005859375,
                        "z": 371.8843688964844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1213.6800537109375,
                        "y": 6472.3681640625,
                        "z": 371.11053466796875
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1190.8282470703125,
                        "y": 6474.78125,
                        "z": 370.4670104980469
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.8848876953125,
                        "y": 6476.88720703125,
                        "z": 369.85467529296875
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1146.0806884765625,
                        "y": 6479.50537109375,
                        "z": 369.0185546875
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1112.8936767578125,
                        "y": 6482.517578125,
                        "z": 367.808349609375
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.628589630126953,
                "transform": {
                    "location": {
                        "x": -1072.05078125,
                        "y": 6484.673828125,
                        "z": 366.25152587890625
                    },
                    "rotation": {
                        "roll": -0.036529529839754105,
                        "pitch": 2.2806410789489746,
                        "yaw": -178.1654510498047
                    }
                },
                "velocity": {
                    "x": -9.616125106811523,
                    "y": -0.3130953013896942,
                    "z": 0.3766372501850128
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -936.3209838867188,
                        "y": 6486.0234375,
                        "z": 362.9139404296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.15914279222488403,
        "expert_target_speed": 8.251998314185649,
        "target_point": [
            14.871386063407432,
            -0.25778669477241917
        ],
        "target_point_next": [
            66.55933764151293,
            0.026520643214845818
        ]
    },
    "735": {
        "acceleration": [
            -2.617521286010742,
            0.057580918073654175,
            0.09723514318466187
        ],
        "angular_velocity": [
            0.06969423592090607,
            0.9681512713432312,
            1.9669770002365112
        ],
        "forward_vector": [
            -0.9995267391204834,
            -0.01200728677213192,
            0.02832200564444065
        ],
        "right_vector": [
            0.01199636422097683,
            -0.9999278783798218,
            -0.0005555574898608029
        ],
        "location": [
            -1017.5527954101562,
            6485.23779296875,
            364.2638244628906
        ],
        "rotation": [
            0.0318438746035099,
            1.6229485273361206,
            -179.31173706054688
        ],
        "velocity": [
            -7.685684680938721,
            -0.07964123785495758,
            0.1954604834318161
        ],
        "speed": 7.686097302375452,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 35.32645797729492,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1052.8582763671875,
                6485.1142578125,
                365.4748229980469
            ],
            "velocity": [
                -9.597179412841797,
                -0.12835286557674408,
                0.3959052264690399
            ],
            "speed_kmh": 34.582318060387934,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.646434783935547,
                "transform": {
                    "location": {
                        "x": -978.0202026367188,
                        "y": 6485.7109375,
                        "z": 363.5595703125
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": 0.8979170918464661,
                        "yaw": -179.6693115234375
                    }
                },
                "velocity": {
                    "x": -9.644980430603027,
                    "y": -0.07296154648065567,
                    "z": 0.1507643610239029
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -898.9041137695312,
                        "y": 6486.30810546875,
                        "z": 362.2006530761719
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.606199264526367,
                "transform": {
                    "location": {
                        "x": -1052.8582763671875,
                        "y": 6485.1142578125,
                        "z": 365.4748229980469
                    },
                    "rotation": {
                        "roll": -0.006408692803233862,
                        "pitch": 2.375840187072754,
                        "yaw": -179.2395477294922
                    }
                },
                "velocity": {
                    "x": -9.597179412841797,
                    "y": -0.12835286557674408,
                    "z": 0.3959052264690399
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.348317623138428,
                "transform": {
                    "location": {
                        "x": -1004.435302734375,
                        "y": 6485.50927734375,
                        "z": 364.0207214355469
                    },
                    "rotation": {
                        "roll": 0.0008100310224108398,
                        "pitch": 1.0472044944763184,
                        "yaw": -179.55807495117188
                    }
                },
                "velocity": {
                    "x": -7.347007751464844,
                    "y": -0.056841928511857986,
                    "z": 0.12656667828559875
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -918.582275390625,
                        "y": 6486.1591796875,
                        "z": 362.5926513671875
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.171043395996094,
                "transform": {
                    "location": {
                        "x": -957.3168334960938,
                        "y": 6485.86474609375,
                        "z": 363.2474060058594
                    },
                    "rotation": {
                        "roll": 0.03725924715399742,
                        "pitch": 0.915614128112793,
                        "yaw": -179.5623779296875
                    }
                },
                "velocity": {
                    "x": -9.16965389251709,
                    "y": -0.07063896954059601,
                    "z": 0.1431918442249298
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -879.2185668945312,
                        "y": 6486.4580078125,
                        "z": 361.78033447265625
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -862.143798828125,
                        "y": 6486.5869140625,
                        "z": 361.381591796875
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -840.766845703125,
                        "y": 6486.74853515625,
                        "z": 361.0027160644531
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33554,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1247.1016845703125,
                        "y": 6468.837890625,
                        "z": 371.9433898925781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1216.1654052734375,
                        "y": 6472.10595703125,
                        "z": 371.1769714355469
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1193.3135986328125,
                        "y": 6474.5185546875,
                        "z": 370.5398254394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1173.36962890625,
                        "y": 6476.625,
                        "z": 369.9338684082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1148.5654296875,
                        "y": 6479.244140625,
                        "z": 369.1060791015625
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1115.3846435546875,
                        "y": 6482.32861328125,
                        "z": 367.9022521972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.629508972167969,
                "transform": {
                    "location": {
                        "x": -1074.4547119140625,
                        "y": 6484.5927734375,
                        "z": 366.3448486328125
                    },
                    "rotation": {
                        "roll": -0.0430603064596653,
                        "pitch": 2.25811505317688,
                        "yaw": -178.0265350341797
                    }
                },
                "velocity": {
                    "x": -9.616207122802734,
                    "y": -0.3443913161754608,
                    "z": 0.37065765261650085
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -938.6509399414062,
                        "y": 6486.0068359375,
                        "z": 362.95062255859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.15716657042503357,
        "expert_target_speed": 8.815156390944711,
        "target_point": [
            13.022057016051939,
            -0.22870574062055915
        ],
        "target_point_next": [
            64.70936022572508,
            0.1558146285714953
        ]
    },
    "740": {
        "acceleration": [
            -2.9267501831054688,
            0.06028130650520325,
            0.20055949687957764
        ],
        "angular_velocity": [
            -0.008073016069829464,
            0.4967608153820038,
            -2.979977607727051
        ],
        "forward_vector": [
            -0.9994449615478516,
            -0.008889415301382542,
            0.03210350126028061
        ],
        "right_vector": [
            0.008875766769051552,
            -0.9999604225158691,
            -0.0005676235887221992
        ],
        "location": [
            -1019.5667724609375,
            6485.21923828125,
            364.3145751953125
        ],
        "rotation": [
            0.032539211213588715,
            1.839711308479309,
            -179.4904022216797
        ],
        "velocity": [
            -8.393399238586426,
            -0.06568495184183121,
            0.22017276287078857
        ],
        "speed": 8.393656252861541,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 35.71400451660156,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1055.25830078125,
                6485.0791015625,
                365.57366943359375
            ],
            "velocity": [
                -9.601364135742188,
                -0.15516245365142822,
                0.39600706100463867
            ],
            "speed_kmh": 34.59880763255729,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.573486328125,
                "transform": {
                    "location": {
                        "x": -980.4219360351562,
                        "y": 6485.6923828125,
                        "z": 363.59716796875
                    },
                    "rotation": {
                        "roll": -0.0008239747257903218,
                        "pitch": 0.8988186717033386,
                        "yaw": -179.6754913330078
                    }
                },
                "velocity": {
                    "x": -9.572046279907227,
                    "y": -0.07182488590478897,
                    "z": 0.14973735809326172
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -901.20458984375,
                        "y": 6486.291015625,
                        "z": 362.2467041015625
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.610779762268066,
                "transform": {
                    "location": {
                        "x": -1055.25830078125,
                        "y": 6485.0791015625,
                        "z": 365.57366943359375
                    },
                    "rotation": {
                        "roll": -0.013763419352471828,
                        "pitch": 2.371147871017456,
                        "yaw": -179.1072235107422
                    }
                },
                "velocity": {
                    "x": -9.601364135742188,
                    "y": -0.15516245365142822,
                    "z": 0.39600706100463867
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.851113319396973,
                "transform": {
                    "location": {
                        "x": -1006.332763671875,
                        "y": 6485.494140625,
                        "z": 364.05596923828125
                    },
                    "rotation": {
                        "roll": -0.0003356939705554396,
                        "pitch": 1.1600323915481567,
                        "yaw": -179.559814453125
                    }
                },
                "velocity": {
                    "x": -7.849367618560791,
                    "y": -0.062381353229284286,
                    "z": 0.15335699915885925
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -920.8912963867188,
                        "y": 6486.1416015625,
                        "z": 362.6385803222656
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.551348686218262,
                "transform": {
                    "location": {
                        "x": -959.659423828125,
                        "y": 6485.84716796875,
                        "z": 363.28436279296875
                    },
                    "rotation": {
                        "roll": 0.028291935101151466,
                        "pitch": 0.8559797406196594,
                        "yaw": -179.57020568847656
                    }
                },
                "velocity": {
                    "x": -9.549936294555664,
                    "y": -0.07192546129226685,
                    "z": 0.14764438569545746
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -881.516845703125,
                        "y": 6486.4404296875,
                        "z": 361.8313903808594
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -864.4557495117188,
                        "y": 6486.5693359375,
                        "z": 361.4361572265625
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -843.2428588867188,
                        "y": 6486.72998046875,
                        "z": 361.0336608886719
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1218.6507568359375,
                        "y": 6471.84375,
                        "z": 371.24237060546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1195.7989501953125,
                        "y": 6474.2568359375,
                        "z": 370.6120910644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1175.8543701171875,
                        "y": 6476.3623046875,
                        "z": 370.01226806640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.0501708984375,
                        "y": 6478.98193359375,
                        "z": 369.1927795410156
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1117.87548828125,
                        "y": 6482.13525390625,
                        "z": 367.9958801269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.629304885864258,
                "transform": {
                    "location": {
                        "x": -1076.8583984375,
                        "y": 6484.5048828125,
                        "z": 366.4372253417969
                    },
                    "rotation": {
                        "roll": -0.034149181097745895,
                        "pitch": 2.2310469150543213,
                        "yaw": -177.88133239746094
                    }
                },
                "velocity": {
                    "x": -9.61550521850586,
                    "y": -0.36074382066726685,
                    "z": 0.3680286407470703
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -940.9822387695312,
                        "y": 6485.98876953125,
                        "z": 362.9870910644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1282021552324295,
        "expert_target_speed": 9.504153049556594,
        "target_point": [
            11.008644408141503,
            -0.18874238435246574
        ],
        "target_point_next": [
            62.69449741460022,
            0.35693883921371916
        ]
    },
    "745": {
        "acceleration": [
            -3.0706214904785156,
            0.09211689233779907,
            0.07739633321762085
        ],
        "angular_velocity": [
            -0.002886715345084667,
            0.09047719836235046,
            1.3704991340637207
        ],
        "forward_vector": [
            -0.9994364380836487,
            -0.006370527669787407,
            0.032957542687654495
        ],
        "right_vector": [
            0.006355348043143749,
            -0.9999796152114868,
            -0.0005653200787492096
        ],
        "location": [
            -1021.7639770507812,
            6485.205078125,
            364.37322998046875
        ],
        "rotation": [
            0.03240806236863136,
            1.8886700868606567,
            -179.63479614257812
        ],
        "velocity": [
            -9.154621124267578,
            -0.04577469080686569,
            0.24595506489276886
        ],
        "speed": 9.1547355642424,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 35.91799545288086,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1057.6580810546875,
                6485.0380859375,
                365.67242431640625
            ],
            "velocity": [
                -9.597052574157715,
                -0.17152754962444305,
                0.39619171619415283
            ],
            "speed_kmh": 34.58433037704808,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.646418571472168,
                "transform": {
                    "location": {
                        "x": -982.8244018554688,
                        "y": 6485.67431640625,
                        "z": 363.6347961425781
                    },
                    "rotation": {
                        "roll": -0.00015258784696925431,
                        "pitch": 0.8985591530799866,
                        "yaw": -179.66773986816406
                    }
                },
                "velocity": {
                    "x": -9.644956588745117,
                    "y": -0.07313384860754013,
                    "z": 0.15118281543254852
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -903.5791015625,
                        "y": 6486.2724609375,
                        "z": 362.2942810058594
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.606758117675781,
                "transform": {
                    "location": {
                        "x": -1057.6580810546875,
                        "y": 6485.0380859375,
                        "z": 365.67242431640625
                    },
                    "rotation": {
                        "roll": -0.0071105933748185635,
                        "pitch": 2.3757104873657227,
                        "yaw": -178.98330688476562
                    }
                },
                "velocity": {
                    "x": -9.597052574157715,
                    "y": -0.17152754962444305,
                    "z": 0.39619171619415283
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.69650936126709,
                "transform": {
                    "location": {
                        "x": -1008.4066162109375,
                        "y": 6485.478515625,
                        "z": 364.0961608886719
                    },
                    "rotation": {
                        "roll": -0.0005187990609556437,
                        "pitch": 1.2697389125823975,
                        "yaw": -179.5612030029297
                    }
                },
                "velocity": {
                    "x": -8.694413185119629,
                    "y": -0.06650707870721817,
                    "z": 0.17897163331508636
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -923.2656860351562,
                        "y": 6486.12353515625,
                        "z": 362.6857604980469
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.307156562805176,
                "transform": {
                    "location": {
                        "x": -962.012939453125,
                        "y": 6485.830078125,
                        "z": 363.3200378417969
                    },
                    "rotation": {
                        "roll": 0.008860117755830288,
                        "pitch": 0.8873576521873474,
                        "yaw": -179.57598876953125
                    }
                },
                "velocity": {
                    "x": -9.305771827697754,
                    "y": -0.06892453879117966,
                    "z": 0.14501486718654633
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -883.9158325195312,
                        "y": 6486.421875,
                        "z": 361.8846435546875
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -866.8357543945312,
                        "y": 6486.55126953125,
                        "z": 361.4928894042969
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -845.72021484375,
                        "y": 6486.7099609375,
                        "z": 361.0679931640625
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1221.1361083984375,
                        "y": 6471.5810546875,
                        "z": 371.3072509765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1198.2843017578125,
                        "y": 6473.994140625,
                        "z": 370.6837463378906
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1178.3392333984375,
                        "y": 6476.1005859375,
                        "z": 370.0897521972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.534912109375,
                        "y": 6478.7197265625,
                        "z": 369.2785949707031
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1120.36572265625,
                        "y": 6481.93310546875,
                        "z": 368.087890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.629776954650879,
                "transform": {
                    "location": {
                        "x": -1079.2620849609375,
                        "y": 6484.41259765625,
                        "z": 366.52862548828125
                    },
                    "rotation": {
                        "roll": -0.0437927208840847,
                        "pitch": 2.2130632400512695,
                        "yaw": -177.74652099609375
                    }
                },
                "velocity": {
                    "x": -9.614890098571777,
                    "y": -0.39115259051322937,
                    "z": 0.3653590977191925
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -943.3428955078125,
                        "y": 6485.9716796875,
                        "z": 363.0240783691406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.12007807940244675,
        "expert_target_speed": 10.239487299242086,
        "target_point": [
            8.811834961846431,
            -0.1611490658186598
        ],
        "target_point_next": [
            60.496148360892455,
            0.514807643003518
        ]
    },
    "750": {
        "acceleration": [
            -8.44034194946289,
            0.11940870434045792,
            0.2710479497909546
        ],
        "angular_velocity": [
            -0.009279518388211727,
            1.7835066318511963,
            -1.2633311748504639
        ],
        "forward_vector": [
            -0.9994248747825623,
            -0.0027756604831665754,
            0.03379666805267334
        ],
        "right_vector": [
            0.0027586021460592747,
            -0.9999960064888,
            -0.0005513502983376384
        ],
        "location": [
            -1024.1170654296875,
            6485.1962890625,
            364.4388122558594
        ],
        "rotation": [
            0.03160810098052025,
            1.9367752075195312,
            -179.84088134765625
        ],
        "velocity": [
            -9.797581672668457,
            -0.01831837370991707,
            0.2816387414932251
        ],
        "speed": 9.797598797431146,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 35.96595001220703,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1060.0577392578125,
                6484.9912109375,
                365.771240234375
            ],
            "velocity": [
                -9.600335121154785,
                -0.20034272968769073,
                0.39622923731803894
            ],
            "speed_kmh": 34.598148181108456,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.573748588562012,
                "transform": {
                    "location": {
                        "x": -985.2262573242188,
                        "y": 6485.65625,
                        "z": 363.67242431640625
                    },
                    "rotation": {
                        "roll": -0.0013122560922056437,
                        "pitch": 0.8978078365325928,
                        "yaw": -179.6746368408203
                    }
                },
                "velocity": {
                    "x": -9.57231616973877,
                    "y": -0.07156184315681458,
                    "z": 0.14933328330516815
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -905.9138793945312,
                        "y": 6486.25341796875,
                        "z": 362.3407287597656
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.610596656799316,
                "transform": {
                    "location": {
                        "x": -1060.0577392578125,
                        "y": 6484.9912109375,
                        "z": 365.771240234375
                    },
                    "rotation": {
                        "roll": -0.015472412109375,
                        "pitch": 2.375601053237915,
                        "yaw": -178.83932495117188
                    }
                },
                "velocity": {
                    "x": -9.600335121154785,
                    "y": -0.20034272968769073,
                    "z": 0.39622923731803894
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.2039794921875,
                "transform": {
                    "location": {
                        "x": -1010.657958984375,
                        "y": 6485.4609375,
                        "z": 364.14263916015625
                    },
                    "rotation": {
                        "roll": -0.00015258736675605178,
                        "pitch": 1.2480462789535522,
                        "yaw": -179.56251525878906
                    }
                },
                "velocity": {
                    "x": -9.201607704162598,
                    "y": -0.07240652292966843,
                    "z": 0.19598378241062164
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -925.6051635742188,
                        "y": 6486.10498046875,
                        "z": 362.7306213378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.571228981018066,
                "transform": {
                    "location": {
                        "x": -964.3775634765625,
                        "y": 6485.8125,
                        "z": 363.3572082519531
                    },
                    "rotation": {
                        "roll": 0.01121719740331173,
                        "pitch": 0.8825013637542725,
                        "yaw": -179.57666015625
                    }
                },
                "velocity": {
                    "x": -9.56979751586914,
                    "y": -0.07062215358018875,
                    "z": 0.14970670640468597
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -886.2509155273438,
                        "y": 6486.40478515625,
                        "z": 361.9354553222656
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -869.183837890625,
                        "y": 6486.5341796875,
                        "z": 361.54888916015625
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -848.1973266601562,
                        "y": 6486.69091796875,
                        "z": 361.10577392578125
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1223.6214599609375,
                        "y": 6471.31787109375,
                        "z": 371.3711242675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1200.7696533203125,
                        "y": 6473.73193359375,
                        "z": 370.7546081542969
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1180.823974609375,
                        "y": 6475.837890625,
                        "z": 370.1664733886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.0196533203125,
                        "y": 6478.45751953125,
                        "z": 369.3635559082031
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1122.8558349609375,
                        "y": 6481.72998046875,
                        "z": 368.1794128417969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.63025951385498,
                "transform": {
                    "location": {
                        "x": -1081.6658935546875,
                        "y": 6484.31298828125,
                        "z": 366.61962890625
                    },
                    "rotation": {
                        "roll": -0.0339965783059597,
                        "pitch": 2.2108843326568604,
                        "yaw": -177.60264587402344
                    }
                },
                "velocity": {
                    "x": -9.614751815795898,
                    "y": -0.4066726267337799,
                    "z": 0.36477163434028625
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -945.6993408203125,
                        "y": 6485.9541015625,
                        "z": 363.06097412109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0953807532787323,
        "expert_target_speed": 10.855811115422302,
        "target_point": [
            58.140801686254115,
            0.7301410946194004
        ],
        "target_point_next": [
            109.56767352337938,
            4.128351848331329
        ]
    },
    "755": {
        "acceleration": [
            -2.420063018798828,
            0.14886675775051117,
            0.11231482028961182
        ],
        "angular_velocity": [
            -0.006687074899673462,
            -0.32317501306533813,
            0.6897779703140259
        ],
        "forward_vector": [
            -0.9992908835411072,
            0.000519296620041132,
            0.03764931485056877
        ],
        "right_vector": [
            -0.0005427479045465589,
            -0.9999997019767761,
            -0.0006126692169345915
        ],
        "location": [
            -1026.7176513671875,
            6485.1953125,
            364.5141296386719
        ],
        "rotation": [
            0.03512826934456825,
            2.157656669616699,
            179.97023010253906
        ],
        "velocity": [
            -10.765212059020996,
            0.017523951828479767,
            0.3225850462913513
        ],
        "speed": 10.765226322032378,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 35.76612854003906,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1062.4571533203125,
                6484.9384765625,
                365.8698425292969
            ],
            "velocity": [
                -9.596746444702148,
                -0.21677786111831665,
                0.39183998107910156
            ],
            "speed_kmh": 34.5858790986043,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.646368026733398,
                "transform": {
                    "location": {
                        "x": -987.6287231445312,
                        "y": 6485.63818359375,
                        "z": 363.7099914550781
                    },
                    "rotation": {
                        "roll": -0.0016174322227016091,
                        "pitch": 0.8977804780006409,
                        "yaw": -179.67015075683594
                    }
                },
                "velocity": {
                    "x": -9.64492130279541,
                    "y": -0.07266747951507568,
                    "z": 0.15041890740394592
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -908.2950439453125,
                        "y": 6486.2373046875,
                        "z": 362.38812255859375
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.60718822479248,
                "transform": {
                    "location": {
                        "x": -1062.4571533203125,
                        "y": 6484.9384765625,
                        "z": 365.8698425292969
                    },
                    "rotation": {
                        "roll": -0.009674075059592724,
                        "pitch": 2.357938289642334,
                        "yaw": -178.70956420898438
                    }
                },
                "velocity": {
                    "x": -9.596746444702148,
                    "y": -0.21677786111831665,
                    "z": 0.39183998107910156
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.591585159301758,
                "transform": {
                    "location": {
                        "x": -1012.9894409179688,
                        "y": 6485.44384765625,
                        "z": 364.1940002441406
                    },
                    "rotation": {
                        "roll": 8.233376138377935e-05,
                        "pitch": 1.378106713294983,
                        "yaw": -179.5648193359375
                    }
                },
                "velocity": {
                    "x": -9.588817596435547,
                    "y": -0.07276315242052078,
                    "z": 0.21859145164489746
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -927.9794921875,
                        "y": 6486.08740234375,
                        "z": 362.7758483886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.191781044006348,
                "transform": {
                    "location": {
                        "x": -966.7205810546875,
                        "y": 6485.794921875,
                        "z": 363.39361572265625
                    },
                    "rotation": {
                        "roll": 0.011124884709715843,
                        "pitch": 0.921802282333374,
                        "yaw": -179.5762481689453
                    }
                },
                "velocity": {
                    "x": -9.190387725830078,
                    "y": -0.06812198460102081,
                    "z": 0.1448063999414444
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -888.6588745117188,
                        "y": 6486.38525390625,
                        "z": 361.9874572753906
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -871.5790405273438,
                        "y": 6486.515625,
                        "z": 361.6048278808594
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -850.6774291992188,
                        "y": 6486.673828125,
                        "z": 361.1469421386719
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1226.1068115234375,
                        "y": 6471.0556640625,
                        "z": 371.4345703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1203.2550048828125,
                        "y": 6473.4697265625,
                        "z": 370.8246765136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1183.30908203125,
                        "y": 6475.57568359375,
                        "z": 370.24267578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.5042724609375,
                        "y": 6478.19482421875,
                        "z": 369.4477233886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1125.3448486328125,
                        "y": 6481.51416015625,
                        "z": 368.2696533203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.629660606384277,
                "transform": {
                    "location": {
                        "x": -1084.0693359375,
                        "y": 6484.2099609375,
                        "z": 366.7106628417969
                    },
                    "rotation": {
                        "roll": -0.0353698767721653,
                        "pitch": 2.2100305557250977,
                        "yaw": -177.51348876953125
                    }
                },
                "velocity": {
                    "x": -9.613033294677734,
                    "y": -0.43220192193984985,
                    "z": 0.3648950755596161
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -948.0534057617188,
                        "y": 6485.93603515625,
                        "z": 363.0978088378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06848780065774918,
        "expert_target_speed": 11.772139888469617,
        "target_point": [
            55.53749391045488,
            0.9194637294842736
        ],
        "target_point_next": [
            106.95288458570546,
            4.487177982350784
        ]
    },
    "760": {
        "acceleration": [
            -1.3186073303222656,
            0.1594836264848709,
            0.12233436107635498
        ],
        "angular_velocity": [
            0.016081973910331726,
            0.19347508251667023,
            -2.2793006896972656
        ],
        "forward_vector": [
            -0.9993199110031128,
            0.0043316800147295,
            0.03661743551492691
        ],
        "right_vector": [
            -0.004354482050985098,
            -0.9999904036521912,
            -0.0005429708398878574
        ],
        "location": [
            -1029.473388671875,
            6485.2041015625,
            364.5986328125
        ],
        "rotation": [
            0.031130816787481308,
            2.0984935760498047,
            179.75164794921875
        ],
        "velocity": [
            -11.218853950500488,
            0.056645605713129044,
            0.3554418087005615
        ],
        "speed": 11.218996955490585,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 35.41124725341797,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1064.856689453125,
                6484.8818359375,
                365.9677734375
            ],
            "velocity": [
                -9.599974632263184,
                -0.2432241439819336,
                0.39123427867889404
            ],
            "speed_kmh": 34.599677570740894,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.573440551757812,
                "transform": {
                    "location": {
                        "x": -990.030517578125,
                        "y": 6485.61962890625,
                        "z": 363.74755859375
                    },
                    "rotation": {
                        "roll": -0.0021362300030887127,
                        "pitch": 0.8978829383850098,
                        "yaw": -179.67465209960938
                    }
                },
                "velocity": {
                    "x": -9.572006225585938,
                    "y": -0.0719878152012825,
                    "z": 0.14922940731048584
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -910.6018676757812,
                        "y": 6486.21875,
                        "z": 362.4339294433594
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.611021041870117,
                "transform": {
                    "location": {
                        "x": -1064.856689453125,
                        "y": 6484.8818359375,
                        "z": 365.9677734375
                    },
                    "rotation": {
                        "roll": -0.01498412899672985,
                        "pitch": 2.34932541847229,
                        "yaw": -178.5997314453125
                    }
                },
                "velocity": {
                    "x": -9.599974632263184,
                    "y": -0.2432241439819336,
                    "z": 0.39123427867889404
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.731164932250977,
                "transform": {
                    "location": {
                        "x": -1015.430419921875,
                        "y": 6485.4248046875,
                        "z": 364.2510986328125
                    },
                    "rotation": {
                        "roll": 0.0005831019370816648,
                        "pitch": 1.3907493352890015,
                        "yaw": -179.56460571289062
                    }
                },
                "velocity": {
                    "x": -9.728140830993652,
                    "y": -0.07392486184835434,
                    "z": 0.23107030987739563
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -930.2838745117188,
                        "y": 6486.0693359375,
                        "z": 362.8154296875
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.54069995880127,
                "transform": {
                    "location": {
                        "x": -969.0478515625,
                        "y": 6485.77734375,
                        "z": 363.4305114746094
                    },
                    "rotation": {
                        "roll": 0.0038699288852512836,
                        "pitch": 0.8614029288291931,
                        "yaw": -179.56678771972656
                    }
                },
                "velocity": {
                    "x": -9.539265632629395,
                    "y": -0.07381253689527512,
                    "z": 0.1480441391468048
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -890.9735717773438,
                        "y": 6486.3681640625,
                        "z": 362.0364685058594
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -873.9141845703125,
                        "y": 6486.49755859375,
                        "z": 361.65936279296875
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -853.1332397460938,
                        "y": 6486.65478515625,
                        "z": 361.1910705566406
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -831.3025512695312,
                        "y": 6486.81982421875,
                        "z": 361.0330505371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1228.5921630859375,
                        "y": 6470.79248046875,
                        "z": 371.4968566894531
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1205.7403564453125,
                        "y": 6473.20654296875,
                        "z": 370.89404296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1185.794189453125,
                        "y": 6475.3134765625,
                        "z": 370.31756591796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.989013671875,
                        "y": 6477.93212890625,
                        "z": 369.531005859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1127.833740234375,
                        "y": 6481.2998046875,
                        "z": 368.35980224609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.629651069641113,
                "transform": {
                    "location": {
                        "x": -1086.4725341796875,
                        "y": 6484.09912109375,
                        "z": 366.8016662597656
                    },
                    "rotation": {
                        "roll": -0.0373230054974556,
                        "pitch": 2.2144975662231445,
                        "yaw": -177.3341522216797
                    }
                },
                "velocity": {
                    "x": -9.612020492553711,
                    "y": -0.45377597212791443,
                    "z": 0.3651605248451233
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -950.3709716796875,
                        "y": 6485.91748046875,
                        "z": 363.1340026855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.038805145770311356,
        "expert_target_speed": 12.196243379661288,
        "target_point": [
            52.77783230201451,
            1.1281861776042632
        ],
        "target_point_next": [
            104.17923736998247,
            4.892032656597261
        ]
    },
    "765": {
        "acceleration": [
            0.040645599365234375,
            -0.24021270871162415,
            0.07953226566314697
        ],
        "angular_velocity": [
            -0.26810187101364136,
            -0.5344903469085693,
            2.8317854404449463
        ],
        "forward_vector": [
            -0.9993296265602112,
            0.0025447597727179527,
            0.03652153164148331
        ],
        "right_vector": [
            -0.00252344598993659,
            -0.9999966621398926,
            0.0006296834908425808
        ],
        "location": [
            -1032.30078125,
            6485.21337890625,
            364.6898498535156
        ],
        "rotation": [
            -0.036102294921875,
            2.0929951667785645,
            179.85409545898438
        ],
        "velocity": [
            -11.340411186218262,
            0.0134422667324543,
            0.37652587890625
        ],
        "speed": 11.340419153057756,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 34.984336853027344,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1067.255859375,
                6484.81787109375,
                366.06463623046875
            ],
            "velocity": [
                -9.59570598602295,
                -0.2629089057445526,
                0.38835492730140686
            ],
            "speed_kmh": 34.58577426633219,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.646512031555176,
                "transform": {
                    "location": {
                        "x": -992.4330444335938,
                        "y": 6485.6015625,
                        "z": 363.7851867675781
                    },
                    "rotation": {
                        "roll": -0.00262451171875,
                        "pitch": 0.8987299203872681,
                        "yaw": -179.6673583984375
                    }
                },
                "velocity": {
                    "x": -9.645054817199707,
                    "y": -0.07306899130344391,
                    "z": 0.15091727674007416
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -912.976318359375,
                        "y": 6486.20166015625,
                        "z": 362.4811706542969
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.607159614562988,
                "transform": {
                    "location": {
                        "x": -1067.255859375,
                        "y": 6484.81787109375,
                        "z": 366.06463623046875
                    },
                    "rotation": {
                        "roll": -0.012939446605741978,
                        "pitch": 2.309375524520874,
                        "yaw": -178.43698120117188
                    }
                },
                "velocity": {
                    "x": -9.59570598602295,
                    "y": -0.2629089057445526,
                    "z": 0.38835492730140686
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.489409446716309,
                "transform": {
                    "location": {
                        "x": -1017.8225708007812,
                        "y": 6485.40673828125,
                        "z": 364.3099670410156
                    },
                    "rotation": {
                        "roll": 0.0005405679694376886,
                        "pitch": 1.4233635663986206,
                        "yaw": -179.56504821777344
                    }
                },
                "velocity": {
                    "x": -9.48597526550293,
                    "y": -0.0720478817820549,
                    "z": 0.2449188381433487
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -932.6691284179688,
                        "y": 6486.0517578125,
                        "z": 362.8559265136719
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.316052436828613,
                "transform": {
                    "location": {
                        "x": -971.421875,
                        "y": 6485.75927734375,
                        "z": 363.4670104980469
                    },
                    "rotation": {
                        "roll": 0.001020214520394802,
                        "pitch": 0.9026231169700623,
                        "yaw": -179.56472778320312
                    }
                },
                "velocity": {
                    "x": -9.314642906188965,
                    "y": -0.07074127346277237,
                    "z": 0.14576312899589539
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -893.3328857421875,
                        "y": 6486.3505859375,
                        "z": 362.08612060546875
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -876.2492065429688,
                        "y": 6486.47998046875,
                        "z": 361.71282958984375
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -855.571044921875,
                        "y": 6486.63623046875,
                        "z": 361.2381896972656
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -833.8011474609375,
                        "y": 6486.8017578125,
                        "z": 360.95623779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1231.0775146484375,
                        "y": 6470.52978515625,
                        "z": 371.55877685546875
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1208.2257080078125,
                        "y": 6472.9443359375,
                        "z": 370.962646484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1188.2794189453125,
                        "y": 6475.05029296875,
                        "z": 370.3920593261719
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.4737548828125,
                        "y": 6477.669921875,
                        "z": 369.61346435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1130.3216552734375,
                        "y": 6481.07177734375,
                        "z": 368.4499206542969
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.629987716674805,
                "transform": {
                    "location": {
                        "x": -1088.87548828125,
                        "y": 6483.984375,
                        "z": 366.8928527832031
                    },
                    "rotation": {
                        "roll": -0.0401306189596653,
                        "pitch": 2.2144155502319336,
                        "yaw": -177.21441650390625
                    }
                },
                "velocity": {
                    "x": -9.611027717590332,
                    "y": -0.4815369248390198,
                    "z": 0.36460623145103455
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -952.7828979492188,
                        "y": 6485.8994140625,
                        "z": 363.17181396484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.028038613498210907,
        "expert_target_speed": 12.307526324632228,
        "target_point": [
            49.952358242916915,
            1.0358882418248345
        ],
        "target_point_next": [
            101.36041141277755,
            4.70781587775849
        ]
    },
    "770": {
        "acceleration": [
            0.6513786315917969,
            -0.21814540028572083,
            0.08221089839935303
        ],
        "angular_velocity": [
            -0.15992914140224457,
            0.22789207100868225,
            -0.3961767852306366
        ],
        "forward_vector": [
            -0.9993833899497986,
            -0.0031739389523863792,
            0.03496744483709335
        ],
        "right_vector": [
            0.003217505058273673,
            -0.9999940991401672,
            0.0011897049844264984
        ],
        "location": [
            -1035.1220703125,
            6485.2099609375,
            364.78509521484375
        ],
        "rotation": [
            -0.0682067945599556,
            2.0038955211639404,
            -179.8180389404297
        ],
        "velocity": [
            -11.219907760620117,
            -0.045302361249923706,
            0.38967084884643555
        ],
        "speed": 11.21999921839384,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 34.56351852416992,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1069.6551513671875,
                6484.75,
                366.1604309082031
            ],
            "velocity": [
                -9.600284576416016,
                -0.29039466381073,
                0.3791622817516327
            ],
            "speed_kmh": 34.60376423600732,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.573659896850586,
                "transform": {
                    "location": {
                        "x": -994.8348388671875,
                        "y": 6485.5830078125,
                        "z": 363.82275390625
                    },
                    "rotation": {
                        "roll": -0.001983642578125,
                        "pitch": 0.8989552855491638,
                        "yaw": -179.67245483398438
                    }
                },
                "velocity": {
                    "x": -9.572211265563965,
                    "y": -0.07228916138410568,
                    "z": 0.1500602513551712
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -915.4163818359375,
                        "y": 6486.18212890625,
                        "z": 362.5296936035156
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.612156867980957,
                "transform": {
                    "location": {
                        "x": -1069.6551513671875,
                        "y": 6484.75,
                        "z": 366.1604309082031
                    },
                    "rotation": {
                        "roll": -0.015899648889899254,
                        "pitch": 2.2885982990264893,
                        "yaw": -178.31787109375
                    }
                },
                "velocity": {
                    "x": -9.600284576416016,
                    "y": -0.29039466381073,
                    "z": 0.3791622817516327
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.643051147460938,
                "transform": {
                    "location": {
                        "x": -1020.2127075195312,
                        "y": 6485.388671875,
                        "z": 364.37127685546875
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 1.5603225231170654,
                        "yaw": -179.56532287597656
                    }
                },
                "velocity": {
                    "x": -9.639309883117676,
                    "y": -0.0731605514883995,
                    "z": 0.25842851400375366
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -935.0999145507812,
                        "y": 6486.033203125,
                        "z": 362.8948059082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.531021118164062,
                "transform": {
                    "location": {
                        "x": -973.7593383789062,
                        "y": 6485.7412109375,
                        "z": 363.5038146972656
                    },
                    "rotation": {
                        "roll": -0.0007934566237963736,
                        "pitch": 0.8768937587738037,
                        "yaw": -179.56484985351562
                    }
                },
                "velocity": {
                    "x": -9.529593467712402,
                    "y": -0.07237114012241364,
                    "z": 0.14822013676166534
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -895.7857666015625,
                        "y": 6486.33154296875,
                        "z": 362.1370544433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -878.683837890625,
                        "y": 6486.4619140625,
                        "z": 361.7681884765625
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -858.0070190429688,
                        "y": 6486.6181640625,
                        "z": 361.28863525390625
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -836.2601318359375,
                        "y": 6486.7822265625,
                        "z": 360.9580383300781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1233.56298828125,
                        "y": 6470.267578125,
                        "z": 371.61962890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1210.7110595703125,
                        "y": 6472.681640625,
                        "z": 371.0305480957031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1190.7647705078125,
                        "y": 6474.7880859375,
                        "z": 370.4653015136719
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.95849609375,
                        "y": 6477.4072265625,
                        "z": 369.6950988769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1132.809814453125,
                        "y": 6480.84375,
                        "z": 368.5399475097656
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.630054473876953,
                "transform": {
                    "location": {
                        "x": -1091.278076171875,
                        "y": 6483.861328125,
                        "z": 366.9838562011719
                    },
                    "rotation": {
                        "roll": -0.037200912833213806,
                        "pitch": 2.209634304046631,
                        "yaw": -177.04611206054688
                    }
                },
                "velocity": {
                    "x": -9.610034942626953,
                    "y": -0.5020022988319397,
                    "z": 0.36493268609046936
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -955.187255859375,
                        "y": 6485.88134765625,
                        "z": 363.2094421386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03365553542971611,
        "expert_target_speed": 12.193432478549179,
        "target_point": [
            47.136182157350156,
            0.7555848914293785
        ],
        "target_point_next": [
            98.56440455698404,
            4.133294780177629
        ]
    },
    "775": {
        "acceleration": [
            0.7459259033203125,
            -0.20465075969696045,
            0.05939781665802002
        ],
        "angular_velocity": [
            0.019755840301513672,
            -0.0806339830160141,
            2.72808575630188
        ],
        "forward_vector": [
            -0.9993062615394592,
            -0.008261291310191154,
            0.03631376847624779
        ],
        "right_vector": [
            0.008312363177537918,
            -0.999964714050293,
            0.0012556498404592276
        ],
        "location": [
            -1037.904296875,
            6485.1923828125,
            364.8830261230469
        ],
        "rotation": [
            -0.07199094444513321,
            2.081083297729492,
            -179.52635192871094
        ],
        "velocity": [
            -11.036547660827637,
            -0.09902405738830566,
            0.39941808581352234
        ],
        "speed": 11.036991892434353,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 34.1815071105957,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1072.0543212890625,
                6484.673828125,
                366.2550048828125
            ],
            "velocity": [
                -9.595808029174805,
                -0.31079933047294617,
                0.37662580609321594
            ],
            "speed_kmh": 34.58960762149808,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.646367073059082,
                "transform": {
                    "location": {
                        "x": -997.2372436523438,
                        "y": 6485.56494140625,
                        "z": 363.86041259765625
                    },
                    "rotation": {
                        "roll": -0.0014038088265806437,
                        "pitch": 0.8980878591537476,
                        "yaw": -179.6671142578125
                    }
                },
                "velocity": {
                    "x": -9.644913673400879,
                    "y": -0.07305347174406052,
                    "z": 0.15062333643436432
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -917.7944946289062,
                        "y": 6486.1640625,
                        "z": 362.5769958496094
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.608223915100098,
                "transform": {
                    "location": {
                        "x": -1072.0543212890625,
                        "y": 6484.673828125,
                        "z": 366.2550048828125
                    },
                    "rotation": {
                        "roll": -0.012329100631177425,
                        "pitch": 2.250185251235962,
                        "yaw": -178.15184020996094
                    }
                },
                "velocity": {
                    "x": -9.595808029174805,
                    "y": -0.31079933047294617,
                    "z": 0.37662580609321594
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.620011329650879,
                "transform": {
                    "location": {
                        "x": -1022.6251220703125,
                        "y": 6485.36962890625,
                        "z": 364.4364318847656
                    },
                    "rotation": {
                        "roll": 0.00021096738055348396,
                        "pitch": 1.5519145727157593,
                        "yaw": -179.56503295898438
                    }
                },
                "velocity": {
                    "x": -9.615921020507812,
                    "y": -0.07301359623670578,
                    "z": 0.2708399295806885
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -937.4909057617188,
                        "y": 6486.0146484375,
                        "z": 362.9324035644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.353806495666504,
                "transform": {
                    "location": {
                        "x": -976.1434326171875,
                        "y": 6485.72314453125,
                        "z": 363.5409240722656
                    },
                    "rotation": {
                        "roll": -0.0016479489859193563,
                        "pitch": 0.9048770666122437,
                        "yaw": -179.56483459472656
                    }
                },
                "velocity": {
                    "x": -9.352385520935059,
                    "y": -0.07096295803785324,
                    "z": 0.14676237106323242
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -898.1488647460938,
                        "y": 6486.314453125,
                        "z": 362.185546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -881.064453125,
                        "y": 6486.44384765625,
                        "z": 361.82135009765625
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -860.4459838867188,
                        "y": 6486.59912109375,
                        "z": 361.3422546386719
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -838.759765625,
                        "y": 6486.76416015625,
                        "z": 360.9803161621094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1236.04833984375,
                        "y": 6470.00537109375,
                        "z": 371.68011474609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1213.1964111328125,
                        "y": 6472.41845703125,
                        "z": 371.09771728515625
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1193.2501220703125,
                        "y": 6474.525390625,
                        "z": 370.5382080078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.443115234375,
                        "y": 6477.14501953125,
                        "z": 369.7760314941406
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1135.2962646484375,
                        "y": 6480.603515625,
                        "z": 368.6300354003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.629889488220215,
                "transform": {
                    "location": {
                        "x": -1093.680419921875,
                        "y": 6483.734375,
                        "z": 367.0748596191406
                    },
                    "rotation": {
                        "roll": -0.0386352464556694,
                        "pitch": 2.2104949951171875,
                        "yaw": -176.93128967285156
                    }
                },
                "velocity": {
                    "x": -9.60843276977539,
                    "y": -0.5288993716239929,
                    "z": 0.3647710382938385
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -957.5756225585938,
                        "y": 6485.86376953125,
                        "z": 363.2469177246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04478665813803673,
        "expert_target_speed": 12.020752407156136,
        "target_point": [
            44.35714127164039,
            0.5210195679684196
        ],
        "target_point_next": [
            95.80189364697968,
            3.636855943450095
        ]
    },
    "780": {
        "acceleration": [
            0.7598686218261719,
            -0.12474238872528076,
            0.1363128423690796
        ],
        "angular_velocity": [
            -0.05252516642212868,
            0.45407000184059143,
            -0.8695075511932373
        ],
        "forward_vector": [
            -0.9992662072181702,
            -0.01243043877184391,
            0.03622954338788986
        ],
        "right_vector": [
            0.012477361597120762,
            -0.9999215602874756,
            0.0010693554067984223
        ],
        "location": [
            -1040.640380859375,
            6485.16259765625,
            364.9832458496094
        ],
        "rotation": [
            -0.061309814453125,
            2.076254367828369,
            -179.2873077392578
        ],
        "velocity": [
            -10.856856346130371,
            -0.14398255944252014,
            0.40910324454307556
        ],
        "speed": 10.857811045414952,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 33.84556579589844,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1074.45361328125,
                6484.5927734375,
                366.34808349609375
            ],
            "velocity": [
                -9.59916877746582,
                -0.3379906713962555,
                0.37130844593048096
            ],
            "speed_kmh": 34.60424958600047,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.57189655303955,
                "transform": {
                    "location": {
                        "x": -999.6390991210938,
                        "y": 6485.546875,
                        "z": 363.8985595703125
                    },
                    "rotation": {
                        "roll": -0.0018615717999637127,
                        "pitch": 0.9232981204986572,
                        "yaw": -179.6757049560547
                    }
                },
                "velocity": {
                    "x": -9.570295333862305,
                    "y": -0.0714637041091919,
                    "z": 0.1598251312971115
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -920.2056274414062,
                        "y": 6486.14599609375,
                        "z": 362.6249084472656
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.61229133605957,
                "transform": {
                    "location": {
                        "x": -1074.45361328125,
                        "y": 6484.5927734375,
                        "z": 366.34808349609375
                    },
                    "rotation": {
                        "roll": -0.01675414852797985,
                        "pitch": 2.225248098373413,
                        "yaw": -178.0315399169922
                    }
                },
                "velocity": {
                    "x": -9.59916877746582,
                    "y": -0.3379906713962555,
                    "z": 0.37130844593048096
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.560546875,
                "transform": {
                    "location": {
                        "x": -1025.017822265625,
                        "y": 6485.3525390625,
                        "z": 364.50433349609375
                    },
                    "rotation": {
                        "roll": -0.00042724591912701726,
                        "pitch": 1.7062357664108276,
                        "yaw": -179.56895446777344
                    }
                },
                "velocity": {
                    "x": -9.55623722076416,
                    "y": -0.0719107985496521,
                    "z": 0.2778792083263397
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -939.8856811523438,
                        "y": 6485.99658203125,
                        "z": 362.96990966796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.423192977905273,
                "transform": {
                    "location": {
                        "x": -978.465576171875,
                        "y": 6485.70556640625,
                        "z": 363.5774230957031
                    },
                    "rotation": {
                        "roll": -0.0011596682015806437,
                        "pitch": 0.8883616924285889,
                        "yaw": -179.56483459472656
                    }
                },
                "velocity": {
                    "x": -9.421770095825195,
                    "y": -0.07152596861124039,
                    "z": 0.1472674161195755
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -900.5776977539062,
                        "y": 6486.29541015625,
                        "z": 362.2342529296875
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -883.4757690429688,
                        "y": 6486.4248046875,
                        "z": 361.8748474121094
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -862.8843383789062,
                        "y": 6486.5810546875,
                        "z": 361.399169921875
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -841.221923828125,
                        "y": 6486.74462890625,
                        "z": 361.0085144042969
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1238.5338134765625,
                        "y": 6469.7431640625,
                        "z": 371.73968505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1215.6817626953125,
                        "y": 6472.15625,
                        "z": 371.1640930175781
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1195.7354736328125,
                        "y": 6474.26318359375,
                        "z": 370.6103515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.9278564453125,
                        "y": 6476.88232421875,
                        "z": 369.8560791015625
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1137.782958984375,
                        "y": 6480.3623046875,
                        "z": 368.7200622558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.629826545715332,
                "transform": {
                    "location": {
                        "x": -1096.08251953125,
                        "y": 6483.60009765625,
                        "z": 367.1659240722656
                    },
                    "rotation": {
                        "roll": -0.0359802320599556,
                        "pitch": 2.215364933013916,
                        "yaw": -176.7631378173828
                    }
                },
                "velocity": {
                    "x": -9.607210159301758,
                    "y": -0.5493379831314087,
                    "z": 0.36510100960731506
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -959.9677124023438,
                        "y": 6485.845703125,
                        "z": 363.2843017578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05879312381148338,
        "expert_target_speed": 11.85163912605263,
        "target_point": [
            41.62268607696148,
            0.3402141400600378
        ],
        "target_point_next": [
            93.079989531501,
            3.2414043210354304
        ]
    },
    "785": {
        "acceleration": [
            1.0596275329589844,
            0.0798693299293518,
            0.09458005428314209
        ],
        "angular_velocity": [
            0.27835148572921753,
            0.15169887244701385,
            1.397828221321106
        ],
        "forward_vector": [
            -0.9991701245307922,
            -0.012940309010446072,
            0.038620639592409134
        ],
        "right_vector": [
            0.012956284917891026,
            -0.9999160766601562,
            0.00016339612193405628
        ],
        "location": [
            -1043.326416015625,
            6485.12841796875,
            365.08551025390625
        ],
        "rotation": [
            -0.00936889834702015,
            2.2133500576019287,
            -179.25799560546875
        ],
        "velocity": [
            -10.618134498596191,
            -0.1296364665031433,
            0.4136406481266022
        ],
        "speed": 10.61892583285739,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 33.55927658081055,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1076.8525390625,
                6484.50537109375,
                366.4404296875
            ],
            "velocity": [
                -9.594958305358887,
                -0.3578778803348541,
                0.36579886078834534
            ],
            "speed_kmh": 34.59094432129742,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.644185066223145,
                "transform": {
                    "location": {
                        "x": -1002.0415649414062,
                        "y": 6485.52880859375,
                        "z": 363.9383544921875
                    },
                    "rotation": {
                        "roll": -0.001251221401616931,
                        "pitch": 0.9986555576324463,
                        "yaw": -179.67178344726562
                    }
                },
                "velocity": {
                    "x": -9.642489433288574,
                    "y": -0.07237028330564499,
                    "z": 0.1657249480485916
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -922.5655517578125,
                        "y": 6486.1279296875,
                        "z": 362.67181396484375
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.608595848083496,
                "transform": {
                    "location": {
                        "x": -1076.8525390625,
                        "y": 6484.50537109375,
                        "z": 366.4404296875
                    },
                    "rotation": {
                        "roll": -0.010681149549782276,
                        "pitch": 2.2046210765838623,
                        "yaw": -177.87173461914062
                    }
                },
                "velocity": {
                    "x": -9.594958305358887,
                    "y": -0.3578778803348541,
                    "z": 0.36579886078834534
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.63703727722168,
                "transform": {
                    "location": {
                        "x": -1027.4185791015625,
                        "y": 6485.33349609375,
                        "z": 364.5757751464844
                    },
                    "rotation": {
                        "roll": 0.002081975108012557,
                        "pitch": 1.7281334400177002,
                        "yaw": -179.5692901611328
                    }
                },
                "velocity": {
                    "x": -9.632467269897461,
                    "y": -0.07005133479833603,
                    "z": 0.2883753776550293
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -942.2670288085938,
                        "y": 6485.97900390625,
                        "z": 363.0071716308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.494569778442383,
                "transform": {
                    "location": {
                        "x": -980.8591918945312,
                        "y": 6485.6875,
                        "z": 363.6148376464844
                    },
                    "rotation": {
                        "roll": -0.0002441403194097802,
                        "pitch": 0.8866404891014099,
                        "yaw": -179.56491088867188
                    }
                },
                "velocity": {
                    "x": -9.493123054504395,
                    "y": -0.07208945602178574,
                    "z": 0.14924895763397217
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -902.9192504882812,
                        "y": 6486.27734375,
                        "z": 362.2811584472656
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -885.8385620117188,
                        "y": 6486.40625,
                        "z": 361.9263610839844
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -865.3518676757812,
                        "y": 6486.5615234375,
                        "z": 361.45745849609375
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -843.7215576171875,
                        "y": 6486.72607421875,
                        "z": 361.0397033691406
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1241.0191650390625,
                        "y": 6469.48095703125,
                        "z": 371.79888916015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1218.1671142578125,
                        "y": 6471.8935546875,
                        "z": 371.22967529296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1198.220703125,
                        "y": 6474.0009765625,
                        "z": 370.68218994140625
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1173.4127197265625,
                        "y": 6476.62060546875,
                        "z": 369.9352722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1140.268310546875,
                        "y": 6480.1103515625,
                        "z": 368.8101501464844
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.629833221435547,
                "transform": {
                    "location": {
                        "x": -1098.484130859375,
                        "y": 6483.4609375,
                        "z": 367.2570495605469
                    },
                    "rotation": {
                        "roll": -0.0257568322122097,
                        "pitch": 2.2139170169830322,
                        "yaw": -176.67440795898438
                    }
                },
                "velocity": {
                    "x": -9.606740951538086,
                    "y": -0.5576974749565125,
                    "z": 0.36493194103240967
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -962.358154296875,
                        "y": 6485.8271484375,
                        "z": 363.32171630859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06459777057170868,
        "expert_target_speed": 11.626113287020365,
        "target_point": [
            38.93660215190553,
            0.31952552714682547
        ],
        "target_point_next": [
            90.39538325422178,
            3.194387392115908
        ]
    },
    "790": {
        "acceleration": [
            1.0406303405761719,
            0.0982394814491272,
            0.001582503318786621
        ],
        "angular_velocity": [
            0.04711069539189339,
            0.002585679991170764,
            -2.4320247173309326
        ],
        "forward_vector": [
            -0.999210774898529,
            -0.010513409040868282,
            0.03830556198954582
        ],
        "right_vector": [
            0.01051006093621254,
            -0.9999446868896484,
            -0.00028875222778879106
        ],
        "location": [
            -1045.946044921875,
            6485.0986328125,
            365.18896484375
        ],
        "rotation": [
            0.01655643619596958,
            2.195284128189087,
            -179.3971710205078
        ],
        "velocity": [
            -10.35206413269043,
            -0.10618115216493607,
            0.4120323061943054
        ],
        "speed": 10.35260866856324,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 33.339725494384766,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1079.251708984375,
                6484.4150390625,
                366.5316467285156
            ],
            "velocity": [
                -9.598162651062012,
                -0.3792814612388611,
                0.365761935710907
            ],
            "speed_kmh": 34.60541313085545,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.570868492126465,
                "transform": {
                    "location": {
                        "x": -1004.4426879882812,
                        "y": 6485.51025390625,
                        "z": 363.98004150390625
                    },
                    "rotation": {
                        "roll": -0.0014343259390443563,
                        "pitch": 0.9935124516487122,
                        "yaw": -179.67530822753906
                    }
                },
                "velocity": {
                    "x": -9.569141387939453,
                    "y": -0.07208061963319778,
                    "z": 0.1669137179851532
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -925.0,
                        "y": 6486.1103515625,
                        "z": 362.7190246582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.612614631652832,
                "transform": {
                    "location": {
                        "x": -1079.251708984375,
                        "y": 6484.4150390625,
                        "z": 366.5316467285156
                    },
                    "rotation": {
                        "roll": -0.015472407452762127,
                        "pitch": 2.1834542751312256,
                        "yaw": -177.79779052734375
                    }
                },
                "velocity": {
                    "x": -9.598162651062012,
                    "y": -0.3792814612388611,
                    "z": 0.365761935710907
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.5761079788208,
                "transform": {
                    "location": {
                        "x": -1029.8197021484375,
                        "y": 6485.31591796875,
                        "z": 364.64996337890625
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": 1.814186930656433,
                        "yaw": -179.57359313964844
                    }
                },
                "velocity": {
                    "x": -9.57090950012207,
                    "y": -0.07124341279268265,
                    "z": 0.30735012888908386
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -944.685546875,
                        "y": 6485.9599609375,
                        "z": 363.0450439453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.463982582092285,
                "transform": {
                    "location": {
                        "x": -983.20703125,
                        "y": 6485.669921875,
                        "z": 363.6515808105469
                    },
                    "rotation": {
                        "roll": 0.0011571079958230257,
                        "pitch": 0.8925281167030334,
                        "yaw": -179.5626678466797
                    }
                },
                "velocity": {
                    "x": -9.462539672851562,
                    "y": -0.07408290356397629,
                    "z": 0.14773976802825928
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -905.3343505859375,
                        "y": 6486.25927734375,
                        "z": 362.32916259765625
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -888.232421875,
                        "y": 6486.38916015625,
                        "z": 361.9781188964844
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -867.7645874023438,
                        "y": 6486.54443359375,
                        "z": 361.5149841308594
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -846.1635131835938,
                        "y": 6486.70751953125,
                        "z": 361.0747985839844
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1243.5045166015625,
                        "y": 6469.21875,
                        "z": 371.85791015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1220.6524658203125,
                        "y": 6471.6318359375,
                        "z": 371.2945556640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1200.7059326171875,
                        "y": 6473.73779296875,
                        "z": 370.75286865234375
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1175.8974609375,
                        "y": 6476.35791015625,
                        "z": 370.01361083984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1142.7535400390625,
                        "y": 6479.85693359375,
                        "z": 368.900146484375
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.630019187927246,
                "transform": {
                    "location": {
                        "x": -1100.885498046875,
                        "y": 6483.3154296875,
                        "z": 367.34820556640625
                    },
                    "rotation": {
                        "roll": -0.0394287072122097,
                        "pitch": 2.211751699447632,
                        "yaw": -176.50088500976562
                    }
                },
                "velocity": {
                    "x": -9.604639053344727,
                    "y": -0.5956867933273315,
                    "z": 0.3651590645313263
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -964.7710571289062,
                        "y": 6485.80810546875,
                        "z": 363.3594970703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.060394275933504105,
        "expert_target_speed": 11.374288074840052,
        "target_point": [
            36.315913870804316,
            0.4118800382943046
        ],
        "target_point_next": [
            87.76756011068235,
            3.411727115262611
        ]
    },
    "795": {
        "acceleration": [
            0.9366416931152344,
            0.021065622568130493,
            -0.05098283290863037
        ],
        "angular_velocity": [
            0.07223885506391525,
            0.4415242373943329,
            1.9929900169372559
        ],
        "forward_vector": [
            -0.9991549849510193,
            -0.01000369805842638,
            0.039865411818027496
        ],
        "right_vector": [
            0.010004132054746151,
            -0.9999499320983887,
            -0.00018862835713662207
        ],
        "location": [
            -1048.502685546875,
            6485.07275390625,
            365.2920227050781
        ],
        "rotation": [
            0.010816207155585289,
            2.2847254276275635,
            -179.42636108398438
        ],
        "velocity": [
            -10.108685493469238,
            -0.1002555787563324,
            0.4106101095676422
        ],
        "speed": 10.109182636936934,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 33.18328094482422,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1081.650634765625,
                6484.3154296875,
                366.6225280761719
            ],
            "velocity": [
                -9.593409538269043,
                -0.40489840507507324,
                0.36226263642311096
            ],
            "speed_kmh": 34.59161369792555,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.640395164489746,
                "transform": {
                    "location": {
                        "x": -1006.8447265625,
                        "y": 6485.4921875,
                        "z": 364.0246887207031
                    },
                    "rotation": {
                        "roll": -0.0007934567402116954,
                        "pitch": 1.1300479173660278,
                        "yaw": -179.6663055419922
                    }
                },
                "velocity": {
                    "x": -9.638266563415527,
                    "y": -0.0732683539390564,
                    "z": 0.18885859847068787
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -927.370361328125,
                        "y": 6486.09228515625,
                        "z": 362.76422119140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.608781814575195,
                "transform": {
                    "location": {
                        "x": -1081.650634765625,
                        "y": 6484.3154296875,
                        "z": 366.6225280761719
                    },
                    "rotation": {
                        "roll": -0.010986328125,
                        "pitch": 2.1834542751312256,
                        "yaw": -177.5957489013672
                    }
                },
                "velocity": {
                    "x": -9.593409538269043,
                    "y": -0.40489840507507324,
                    "z": 0.36226263642311096
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.61118221282959,
                "transform": {
                    "location": {
                        "x": -1032.2166748046875,
                        "y": 6485.2978515625,
                        "z": 364.7270202636719
                    },
                    "rotation": {
                        "roll": -0.0007019039476290345,
                        "pitch": 1.9113532304763794,
                        "yaw": -179.5707244873047
                    }
                },
                "velocity": {
                    "x": -9.605607032775879,
                    "y": -0.07430281490087509,
                    "z": 0.3187844157218933
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -947.0706787109375,
                        "y": 6485.94189453125,
                        "z": 363.0823669433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.449884414672852,
                "transform": {
                    "location": {
                        "x": -985.5960083007812,
                        "y": 6485.65087890625,
                        "z": 363.6889343261719
                    },
                    "rotation": {
                        "roll": 0.0005191642558202147,
                        "pitch": 0.8954719305038452,
                        "yaw": -179.56082153320312
                    }
                },
                "velocity": {
                    "x": -9.448436737060547,
                    "y": -0.07242117077112198,
                    "z": 0.14872859418392181
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -907.7247314453125,
                        "y": 6486.2412109375,
                        "z": 362.3767395019531
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -890.6435546875,
                        "y": 6486.37060546875,
                        "z": 362.0295104980469
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -870.2353515625,
                        "y": 6486.525390625,
                        "z": 361.5736389160156
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -848.6630859375,
                        "y": 6486.6884765625,
                        "z": 361.1128845214844
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33553,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1245.9898681640625,
                        "y": 6468.9560546875,
                        "z": 371.9170227050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1223.1378173828125,
                        "y": 6471.369140625,
                        "z": 371.3587951660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1203.191162109375,
                        "y": 6473.47607421875,
                        "z": 370.82318115234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1178.3822021484375,
                        "y": 6476.09619140625,
                        "z": 370.0911560058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.23828125,
                        "y": 6479.5947265625,
                        "z": 368.9886169433594
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.629609107971191,
                "transform": {
                    "location": {
                        "x": -1103.2864990234375,
                        "y": 6483.16552734375,
                        "z": 367.439208984375
                    },
                    "rotation": {
                        "roll": -0.027191171422600746,
                        "pitch": 2.212209463119507,
                        "yaw": -176.38914489746094
                    }
                },
                "velocity": {
                    "x": -9.603605270385742,
                    "y": -0.6057965159416199,
                    "z": 0.3648894429206848
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -967.1597290039062,
                        "y": 6485.791015625,
                        "z": 363.3968811035156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06183236092329025,
        "expert_target_speed": 11.143490634141966,
        "target_point": [
            33.75892782431466,
            0.4300937647099234
        ],
        "target_point_next": [
            85.20903968394444,
            3.456142824182465
        ]
    },
    "800": {
        "acceleration": [
            0.9161186218261719,
            0.006622225046157837,
            -0.03710448741912842
        ],
        "angular_velocity": [
            -0.13561131060123444,
            -0.010312058962881565,
            -2.065126657485962
        ],
        "forward_vector": [
            -0.9991421103477478,
            -0.009700769558548927,
            0.04026135057210922
        ],
        "right_vector": [
            0.009708165191113949,
            -0.9999528527259827,
            -1.1814058780146297e-05
        ],
        "location": [
            -1050.999755859375,
            6485.048828125,
            365.3947448730469
        ],
        "rotation": [
            0.0006774450303055346,
            2.307429075241089,
            -179.4437255859375
        ],
        "velocity": [
            -9.876582145690918,
            -0.09774640202522278,
            0.409178763628006
        ],
        "speed": 9.877065821370712,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 33.08642578125,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1084.04931640625,
                6484.21240234375,
                366.71331787109375
            ],
            "velocity": [
                -9.59638786315918,
                -0.4280431568622589,
                0.3633934557437897
            ],
            "speed_kmh": 34.60608223352243,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.566788673400879,
                "transform": {
                    "location": {
                        "x": -1009.2450561523438,
                        "y": 6485.4736328125,
                        "z": 364.0726623535156
                    },
                    "rotation": {
                        "roll": -0.000793456332758069,
                        "pitch": 1.1868681907653809,
                        "yaw": -179.67100524902344
                    }
                },
                "velocity": {
                    "x": -9.564478874206543,
                    "y": -0.07236579060554504,
                    "z": 0.19736652076244354
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -831.282470703125,
                        "y": 6486.8203125,
                        "z": 361.0336608886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -929.7990112304688,
                        "y": 6486.07275390625,
                        "z": 362.8077392578125
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.612800598144531,
                "transform": {
                    "location": {
                        "x": -1084.04931640625,
                        "y": 6484.21240234375,
                        "z": 366.71331787109375
                    },
                    "rotation": {
                        "roll": -0.015197748318314552,
                        "pitch": 2.1820335388183594,
                        "yaw": -177.50193786621094
                    }
                },
                "velocity": {
                    "x": -9.59638786315918,
                    "y": -0.4280431568622589,
                    "z": 0.3633934557437897
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.578069686889648,
                "transform": {
                    "location": {
                        "x": -1034.6160888671875,
                        "y": 6485.27978515625,
                        "z": 364.80706787109375
                    },
                    "rotation": {
                        "roll": 0.0004956445191055536,
                        "pitch": 1.9242485761642456,
                        "yaw": -179.55838012695312
                    }
                },
                "velocity": {
                    "x": -9.571988105773926,
                    "y": -0.07367151975631714,
                    "z": 0.33323806524276733
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -949.4832763671875,
                        "y": 6485.923828125,
                        "z": 363.12017822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.459962844848633,
                "transform": {
                    "location": {
                        "x": -987.9359741210938,
                        "y": 6485.6337890625,
                        "z": 363.7257080078125
                    },
                    "rotation": {
                        "roll": -0.0013122553937137127,
                        "pitch": 0.8903970718383789,
                        "yaw": -179.56658935546875
                    }
                },
                "velocity": {
                    "x": -9.45854663848877,
                    "y": -0.07150904089212418,
                    "z": 0.14726313948631287
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -910.1333618164062,
                        "y": 6486.2236328125,
                        "z": 362.4246520996094
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -893.0313720703125,
                        "y": 6486.353515625,
                        "z": 362.0797424316406
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -872.6485595703125,
                        "y": 6486.50732421875,
                        "z": 361.62982177734375
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -851.103271484375,
                        "y": 6486.67041015625,
                        "z": 361.1546936035156
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1225.6231689453125,
                        "y": 6471.10693359375,
                        "z": 371.4222106933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1205.676513671875,
                        "y": 6473.21337890625,
                        "z": 370.8924255371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1180.866943359375,
                        "y": 6475.83349609375,
                        "z": 370.1678771972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.7230224609375,
                        "y": 6479.33349609375,
                        "z": 369.076904296875
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.629802703857422,
                "transform": {
                    "location": {
                        "x": -1105.68701171875,
                        "y": 6483.0078125,
                        "z": 367.53021240234375
                    },
                    "rotation": {
                        "roll": -0.040222153067588806,
                        "pitch": 2.208876132965088,
                        "yaw": -176.2130584716797
                    }
                },
                "velocity": {
                    "x": -9.601359367370605,
                    "y": -0.6434536576271057,
                    "z": 0.36464399099349976
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -969.56787109375,
                        "y": 6485.7724609375,
                        "z": 363.43463134765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05508105456829071,
        "expert_target_speed": 10.9230989208542,
        "target_point": [
            31.261610925570114,
            0.44065051665290594
        ],
        "target_point_next": [
            82.71080271408049,
            3.4823026315124217
        ]
    },
    "805": {
        "acceleration": [
            0.864410400390625,
            -0.12091875076293945,
            -0.02252042293548584
        ],
        "angular_velocity": [
            -0.0011141744907945395,
            0.012826802209019661,
            2.7054426670074463
        ],
        "forward_vector": [
            -0.9991297721862793,
            -0.010946150869131088,
            0.04024764895439148
        ],
        "right_vector": [
            0.010968123562633991,
            -0.9999397993087769,
            0.000325174507452175
        ],
        "location": [
            -1053.43994140625,
            6485.02294921875,
            365.49554443359375
        ],
        "rotation": [
            -0.018646234646439552,
            2.306643486022949,
            -179.372314453125
        ],
        "velocity": [
            -9.656176567077637,
            -0.11182412505149841,
            0.3988021910190582
        ],
        "speed": 9.656824039482277,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 33.04646682739258,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1086.4476318359375,
                6484.1015625,
                366.80419921875
            ],
            "velocity": [
                -9.59103775024414,
                -0.4525490999221802,
                0.36492231488227844
            ],
            "speed_kmh": 34.59110614695785,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.637179374694824,
                "transform": {
                    "location": {
                        "x": -1011.6456909179688,
                        "y": 6485.45556640625,
                        "z": 364.1235046386719
                    },
                    "rotation": {
                        "roll": -0.0017700183670967817,
                        "pitch": 1.2359637022018433,
                        "yaw": -179.66586303710938
                    }
                },
                "velocity": {
                    "x": -9.634431838989258,
                    "y": -0.0730643942952156,
                    "z": 0.21821309626102448
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -833.7623901367188,
                        "y": 6486.80224609375,
                        "z": 360.9574890136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -932.1680908203125,
                        "y": 6486.0546875,
                        "z": 362.84765625
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.608640670776367,
                "transform": {
                    "location": {
                        "x": -1086.4476318359375,
                        "y": 6484.1015625,
                        "z": 366.80419921875
                    },
                    "rotation": {
                        "roll": -0.011810301803052425,
                        "pitch": 2.1865551471710205,
                        "yaw": -177.3097686767578
                    }
                },
                "velocity": {
                    "x": -9.59103775024414,
                    "y": -0.4525490999221802,
                    "z": 0.36492231488227844
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.357504844665527,
                "transform": {
                    "location": {
                        "x": -1036.986328125,
                        "y": 6485.26171875,
                        "z": 364.8894958496094
                    },
                    "rotation": {
                        "roll": -0.00012206946848891675,
                        "pitch": 2.062314033508301,
                        "yaw": -179.56185913085938
                    }
                },
                "velocity": {
                    "x": -9.351337432861328,
                    "y": -0.07148982584476471,
                    "z": 0.3320614695549011
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -951.8872680664062,
                        "y": 6485.9052734375,
                        "z": 363.1578369140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.535115242004395,
                "transform": {
                    "location": {
                        "x": -990.3358154296875,
                        "y": 6485.61474609375,
                        "z": 363.7631530761719
                    },
                    "rotation": {
                        "roll": -0.0008544925949536264,
                        "pitch": 0.8853905200958252,
                        "yaw": -179.56655883789062
                    }
                },
                "velocity": {
                    "x": -9.53366470336914,
                    "y": -0.07209528237581253,
                    "z": 0.14986252784729004
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -912.5213012695312,
                        "y": 6486.20556640625,
                        "z": 362.47210693359375
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -895.4397583007812,
                        "y": 6486.3349609375,
                        "z": 362.1297912597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -875.1187133789062,
                        "y": 6486.48779296875,
                        "z": 361.68701171875
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -853.6024780273438,
                        "y": 6486.65185546875,
                        "z": 361.1996154785156
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1228.1085205078125,
                        "y": 6470.8447265625,
                        "z": 371.48486328125
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1208.161865234375,
                        "y": 6472.951171875,
                        "z": 370.96112060546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1183.35205078125,
                        "y": 6475.5712890625,
                        "z": 370.2437438964844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1150.207763671875,
                        "y": 6479.0712890625,
                        "z": 369.1634216308594
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.629735946655273,
                "transform": {
                    "location": {
                        "x": -1108.0872802734375,
                        "y": 6482.84619140625,
                        "z": 367.6212158203125
                    },
                    "rotation": {
                        "roll": -0.027557365596294403,
                        "pitch": 2.212502956390381,
                        "yaw": -176.10520935058594
                    }
                },
                "velocity": {
                    "x": -9.60063362121582,
                    "y": -0.6530221700668335,
                    "z": 0.36498206853866577
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -971.964599609375,
                        "y": 6485.75341796875,
                        "z": 363.4721374511719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05320388451218605,
        "expert_target_speed": 10.713183955266926,
        "target_point": [
            28.821813270610033,
            0.4025392646653661
        ],
        "target_point_next": [
            80.27475636566517,
            3.3800600682485973
        ]
    },
    "810": {
        "acceleration": [
            0.38661956787109375,
            -0.1550266146659851,
            0.002154707908630371
        ],
        "angular_velocity": [
            -0.19796821475028992,
            0.1617894321680069,
            -1.370003342628479
        ],
        "forward_vector": [
            -0.9990866184234619,
            -0.013781656511127949,
            0.0404462106525898
        ],
        "right_vector": [
            0.013822278007864952,
            -0.999904215335846,
            0.0007248512702062726
        ],
        "location": [
            -1055.830810546875,
            6484.9912109375,
            365.5940246582031
        ],
        "rotation": [
            -0.0415649376809597,
            2.3180294036865234,
            -179.20970153808594
        ],
        "velocity": [
            -9.49930191040039,
            -0.14359374344348907,
            0.39270880818367004
        ],
        "speed": 9.50038714727419,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 33.05580139160156,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1088.845703125,
                6483.986328125,
                366.8952331542969
            ],
            "velocity": [
                -9.594040870666504,
                -0.4756297171115875,
                0.36539939045906067
            ],
            "speed_kmh": 34.60597452741295,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.562392234802246,
                "transform": {
                    "location": {
                        "x": -1014.0455322265625,
                        "y": 6485.4375,
                        "z": 364.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": 1.3708462715148926,
                        "yaw": -179.67286682128906
                    }
                },
                "velocity": {
                    "x": -9.559480667114258,
                    "y": -0.072447769343853,
                    "z": 0.2245703637599945
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -836.2223510742188,
                        "y": 6486.783203125,
                        "z": 360.9587707519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -934.667724609375,
                        "y": 6486.03662109375,
                        "z": 362.8880310058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.612771034240723,
                "transform": {
                    "location": {
                        "x": -1088.845703125,
                        "y": 6483.986328125,
                        "z": 366.8952331542969
                    },
                    "rotation": {
                        "roll": -0.014312744140625,
                        "pitch": 2.1851959228515625,
                        "yaw": -177.2161865234375
                    }
                },
                "velocity": {
                    "x": -9.594040870666504,
                    "y": -0.4756297171115875,
                    "z": 0.36539939045906067
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.097166061401367,
                "transform": {
                    "location": {
                        "x": -1039.285888671875,
                        "y": 6485.244140625,
                        "z": 364.9727783203125
                    },
                    "rotation": {
                        "roll": -0.00057983334409073,
                        "pitch": 2.0594589710235596,
                        "yaw": -179.5620880126953
                    }
                },
                "velocity": {
                    "x": -9.090925216674805,
                    "y": -0.06946886330842972,
                    "z": 0.32967880368232727
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -954.3868408203125,
                        "y": 6485.88720703125,
                        "z": 363.1968994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.307758331298828,
                "transform": {
                    "location": {
                        "x": -992.664794921875,
                        "y": 6485.59716796875,
                        "z": 363.7995300292969
                    },
                    "rotation": {
                        "roll": -0.00048828107537701726,
                        "pitch": 0.9087429642677307,
                        "yaw": -179.5668182373047
                    }
                },
                "velocity": {
                    "x": -9.306336402893066,
                    "y": -0.07034459710121155,
                    "z": 0.1467062532901764
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -915.0015258789062,
                        "y": 6486.18505859375,
                        "z": 362.52142333984375
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -897.8995361328125,
                        "y": 6486.3154296875,
                        "z": 362.1803894042969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -877.5514526367188,
                        "y": 6486.4697265625,
                        "z": 361.7423400878906
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -856.062255859375,
                        "y": 6486.6328125,
                        "z": 361.2483825683594
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1230.5938720703125,
                        "y": 6470.58251953125,
                        "z": 371.5467834472656
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1210.647216796875,
                        "y": 6472.6884765625,
                        "z": 371.02886962890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1185.83740234375,
                        "y": 6475.30908203125,
                        "z": 370.3188171386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1152.6925048828125,
                        "y": 6478.80908203125,
                        "z": 369.2499084472656
                    },
                    "rotation": {
                        "roll": 6.674035102349762e-09,
                        "pitch": 1.9661518335342407,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.629884719848633,
                "transform": {
                    "location": {
                        "x": -1110.4871826171875,
                        "y": 6482.6767578125,
                        "z": 367.71234130859375
                    },
                    "rotation": {
                        "roll": -0.0404052697122097,
                        "pitch": 2.216123104095459,
                        "yaw": -175.9308624267578
                    }
                },
                "velocity": {
                    "x": -9.598146438598633,
                    "y": -0.6906439065933228,
                    "z": 0.3650802671909332
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -974.3737182617188,
                        "y": 6485.734375,
                        "z": 363.50982666015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05402263626456261,
        "expert_target_speed": 10.564022638608535,
        "target_point": [
            26.431760181647096,
            0.3219796618641881
        ],
        "target_point_next": [
            77.89294664384589,
            3.1534582829312434
        ]
    },
    "815": {
        "acceleration": [
            0.01129150390625,
            -0.1419365406036377,
            -0.011026263236999512
        ],
        "angular_velocity": [
            0.10020153969526291,
            0.19570372998714447,
            3.0934152603149414
        ],
        "forward_vector": [
            -0.9989862442016602,
            -0.01797896809875965,
            0.04127021133899689
        ],
        "right_vector": [
            0.018029019236564636,
            -0.9998371601104736,
            0.0008408417925238609
        ],
        "location": [
            -1058.2000732421875,
            6484.95166015625,
            365.6915283203125
        ],
        "rotation": [
            -0.0482177734375,
            2.3652806282043457,
            -178.9689483642578
        ],
        "velocity": [
            -9.466546058654785,
            -0.1795821487903595,
            0.3893333971500397
        ],
        "speed": 9.468249258907193,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 33.086692810058594,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1091.2435302734375,
                6483.86376953125,
                366.9860534667969
            ],
            "velocity": [
                -9.58863353729248,
                -0.4994235634803772,
                0.36427223682403564
            ],
            "speed_kmh": 34.59073844353693,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.635295867919922,
                "transform": {
                    "location": {
                        "x": -1016.4447631835938,
                        "y": 6485.41943359375,
                        "z": 364.2342834472656
                    },
                    "rotation": {
                        "roll": -0.0020141599234193563,
                        "pitch": 1.3610107898712158,
                        "yaw": -179.6695098876953
                    }
                },
                "velocity": {
                    "x": -9.632129669189453,
                    "y": -0.07219590246677399,
                    "z": 0.23618920147418976
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -838.721923828125,
                        "y": 6486.76416015625,
                        "z": 360.980224609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -937.0458984375,
                        "y": 6486.0185546875,
                        "z": 362.9254150390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.608538627624512,
                "transform": {
                    "location": {
                        "x": -1091.2435302734375,
                        "y": 6483.86376953125,
                        "z": 366.9860534667969
                    },
                    "rotation": {
                        "roll": -0.011627196334302425,
                        "pitch": 2.180408000946045,
                        "yaw": -177.03057861328125
                    }
                },
                "velocity": {
                    "x": -9.58863353729248,
                    "y": -0.4994235634803772,
                    "z": 0.36427223682403564
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.102208137512207,
                "transform": {
                    "location": {
                        "x": -1041.556640625,
                        "y": 6485.2265625,
                        "z": 365.05706787109375
                    },
                    "rotation": {
                        "roll": -0.0012207023100927472,
                        "pitch": 2.1683664321899414,
                        "yaw": -179.55873107910156
                    }
                },
                "velocity": {
                    "x": -9.095183372497559,
                    "y": -0.0700189396739006,
                    "z": 0.350605845451355
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -956.7474975585938,
                        "y": 6485.86962890625,
                        "z": 363.2338562011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.667195320129395,
                "transform": {
                    "location": {
                        "x": -995.0552978515625,
                        "y": 6485.580078125,
                        "z": 363.8373107910156
                    },
                    "rotation": {
                        "roll": 0.00018613788415677845,
                        "pitch": 0.866511881351471,
                        "yaw": -179.57098388671875
                    }
                },
                "velocity": {
                    "x": -9.665741920471191,
                    "y": -0.07242301851511002,
                    "z": 0.15117889642715454
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -917.4034423828125,
                        "y": 6486.16748046875,
                        "z": 362.5692138671875
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -900.3285522460938,
                        "y": 6486.2958984375,
                        "z": 362.2292175292969
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -880.0150756835938,
                        "y": 6486.45068359375,
                        "z": 361.79803466796875
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -858.5615234375,
                        "y": 6486.61376953125,
                        "z": 361.3001403808594
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1233.0792236328125,
                        "y": 6470.31982421875,
                        "z": 371.60791015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1213.132568359375,
                        "y": 6472.42626953125,
                        "z": 371.0962829589844
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1188.3226318359375,
                        "y": 6475.0458984375,
                        "z": 370.3930358886719
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.17724609375,
                        "y": 6478.546875,
                        "z": 369.3348693847656
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.62972354888916,
                "transform": {
                    "location": {
                        "x": -1112.8865966796875,
                        "y": 6482.5029296875,
                        "z": 367.803466796875
                    },
                    "rotation": {
                        "roll": -0.02630615420639515,
                        "pitch": 2.2113828659057617,
                        "yaw": -175.82354736328125
                    }
                },
                "velocity": {
                    "x": -9.597232818603516,
                    "y": -0.7007514238357544,
                    "z": 0.3655721843242645
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -976.7529296875,
                        "y": 6485.71728515625,
                        "z": 363.5470275878906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05798330157995224,
        "expert_target_speed": 10.533338595292069,
        "target_point": [
            24.063288987872188,
            0.2140029018046245
        ],
        "target_point_next": [
            75.53591867866116,
            2.829222967814686
        ]
    },
    "820": {
        "acceleration": [
            -0.1120758056640625,
            -0.1536056399345398,
            -0.0019377470016479492
        ],
        "angular_velocity": [
            -0.06749741733074188,
            0.06806842237710953,
            -1.3040283918380737
        ],
        "forward_vector": [
            -0.9988950490951538,
            -0.021462421864271164,
            0.04180988296866417
        ],
        "right_vector": [
            0.021519623696804047,
            -0.9997680187225342,
            0.0009185189264826477
        ],
        "location": [
            -1060.5687255859375,
            6484.90234375,
            365.7889404296875
        ],
        "rotation": [
            -0.05267332121729851,
            2.396228313446045,
            -178.7691192626953
        ],
        "velocity": [
            -9.48422622680664,
            -0.2171790599822998,
            0.3891669511795044
        ],
        "speed": 9.486712489864006,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 33.11809158325195,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1093.6412353515625,
                6483.73681640625,
                367.0768737792969
            ],
            "velocity": [
                -9.591826438903809,
                -0.5217319130897522,
                0.3640650808811188
            ],
            "speed_kmh": 34.606446665350425,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.559326171875,
                "transform": {
                    "location": {
                        "x": -1018.8436279296875,
                        "y": 6485.40087890625,
                        "z": 364.2944030761719
                    },
                    "rotation": {
                        "roll": -0.0036010739859193563,
                        "pitch": 1.506971836090088,
                        "yaw": -179.67544555664062
                    }
                },
                "velocity": {
                    "x": -9.555855751037598,
                    "y": -0.07238347083330154,
                    "z": 0.24717977643013
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -841.1702880859375,
                        "y": 6486.74462890625,
                        "z": 361.0080261230469
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -939.528076171875,
                        "y": 6485.9990234375,
                        "z": 362.96435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.61290168762207,
                "transform": {
                    "location": {
                        "x": -1093.6412353515625,
                        "y": 6483.73681640625,
                        "z": 367.0768737792969
                    },
                    "rotation": {
                        "roll": -0.01544189639389515,
                        "pitch": 2.182129144668579,
                        "yaw": -176.9420166015625
                    }
                },
                "velocity": {
                    "x": -9.591826438903809,
                    "y": -0.5217319130897522,
                    "z": 0.3640650808811188
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.098664283752441,
                "transform": {
                    "location": {
                        "x": -1043.83154296875,
                        "y": 6485.20947265625,
                        "z": 365.1443176269531
                    },
                    "rotation": {
                        "roll": 0.0014157101977616549,
                        "pitch": 2.27314829826355,
                        "yaw": -179.55946350097656
                    }
                },
                "velocity": {
                    "x": -9.091351509094238,
                    "y": -0.07022330909967422,
                    "z": 0.3579096794128418
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -959.2470703125,
                        "y": 6485.85009765625,
                        "z": 363.2730407714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.450358390808105,
                "transform": {
                    "location": {
                        "x": -997.4302368164062,
                        "y": 6485.5615234375,
                        "z": 363.8741760253906
                    },
                    "rotation": {
                        "roll": 0.0005710368859581649,
                        "pitch": 0.9019469022750854,
                        "yaw": -179.56655883789062
                    }
                },
                "velocity": {
                    "x": -9.448941230773926,
                    "y": -0.07151912152767181,
                    "z": 0.1472206860780716
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -919.861328125,
                        "y": 6486.1484375,
                        "z": 362.61810302734375
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -902.759033203125,
                        "y": 6486.27783203125,
                        "z": 362.2779541015625
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -882.4110107421875,
                        "y": 6486.43310546875,
                        "z": 361.8511657714844
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -860.9920043945312,
                        "y": 6486.595703125,
                        "z": 361.35491943359375
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.5645751953125,
                        "y": 6470.05712890625,
                        "z": 371.6683044433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1215.617919921875,
                        "y": 6472.16357421875,
                        "z": 371.1625061035156
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1190.8079833984375,
                        "y": 6474.78369140625,
                        "z": 370.4664306640625
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.661865234375,
                        "y": 6478.2841796875,
                        "z": 369.4195861816406
                    },
                    "rotation": {
                        "roll": 6.673885444286043e-09,
                        "pitch": 1.9282101392745972,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.63025951385498,
                "transform": {
                    "location": {
                        "x": -1115.285400390625,
                        "y": 6482.32275390625,
                        "z": 367.8940124511719
                    },
                    "rotation": {
                        "roll": -0.0429687574505806,
                        "pitch": 2.190229892730713,
                        "yaw": -175.67535400390625
                    }
                },
                "velocity": {
                    "x": -9.595247268676758,
                    "y": -0.7366136908531189,
                    "z": 0.36126983165740967
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -979.1867065429688,
                        "y": 6485.69775390625,
                        "z": 363.58514404296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06211676821112633,
        "expert_target_speed": 10.551133500531934,
        "target_point": [
            21.694723837854376,
            0.13165567174561654
        ],
        "target_point_next": [
            73.17616128034632,
            2.5673449239985864
        ]
    },
    "825": {
        "acceleration": [
            -0.1541900634765625,
            -0.14496922492980957,
            0.004150271415710449
        ],
        "angular_velocity": [
            0.040414921939373016,
            -0.05782356485724449,
            3.0669662952423096
        ],
        "forward_vector": [
            -0.998796284198761,
            -0.02571975812315941,
            0.04176676645874977
        ],
        "right_vector": [
            0.025778217241168022,
            -0.9996672868728638,
            0.0008615788538008928
        ],
        "location": [
            -1062.9442138671875,
            6484.84423828125,
            365.88629150390625
        ],
        "rotation": [
            -0.0494079552590847,
            2.3937556743621826,
            -178.52491760253906
        ],
        "velocity": [
            -9.520071029663086,
            -0.2547607421875,
            0.38892462849617004
        ],
        "speed": 9.523479167068635,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 33.142311096191406,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1096.0384521484375,
                6483.6025390625,
                367.1678161621094
            ],
            "velocity": [
                -9.586331367492676,
                -0.5461777448654175,
                0.36425185203552246
            ],
            "speed_kmh": 34.5916240240294,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.631279945373535,
                "transform": {
                    "location": {
                        "x": -1021.2420654296875,
                        "y": 6485.3828125,
                        "z": 364.3578186035156
                    },
                    "rotation": {
                        "roll": -0.0032653810922056437,
                        "pitch": 1.5457332134246826,
                        "yaw": -179.66847229003906
                    }
                },
                "velocity": {
                    "x": -9.627508163452148,
                    "y": -0.07253501564264297,
                    "z": 0.25956490635871887
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -843.6524658203125,
                        "y": 6486.72607421875,
                        "z": 361.0388488769531
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -941.9506225585938,
                        "y": 6485.98193359375,
                        "z": 363.00225830078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.608784675598145,
                "transform": {
                    "location": {
                        "x": -1096.0384521484375,
                        "y": 6483.6025390625,
                        "z": 367.1678161621094
                    },
                    "rotation": {
                        "roll": -0.011047356761991978,
                        "pitch": 2.187490940093994,
                        "yaw": -176.75192260742188
                    }
                },
                "velocity": {
                    "x": -9.586331367492676,
                    "y": -0.5461777448654175,
                    "z": 0.36425185203552246
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.145977020263672,
                "transform": {
                    "location": {
                        "x": -1046.10986328125,
                        "y": 6485.189453125,
                        "z": 365.2342529296875
                    },
                    "rotation": {
                        "roll": 0.0002690402034204453,
                        "pitch": 2.267909526824951,
                        "yaw": -179.48040771484375
                    }
                },
                "velocity": {
                    "x": -9.138265609741211,
                    "y": -0.08769257366657257,
                    "z": 0.36512380838394165
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -961.6504516601562,
                        "y": 6485.83251953125,
                        "z": 363.3106689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.592273712158203,
                "transform": {
                    "location": {
                        "x": -999.8209228515625,
                        "y": 6485.54345703125,
                        "z": 363.9122619628906
                    },
                    "rotation": {
                        "roll": 0.0003706659481395036,
                        "pitch": 0.9076159596443176,
                        "yaw": -179.56668090820312
                    }
                },
                "velocity": {
                    "x": -9.590641021728516,
                    "y": -0.07254111766815186,
                    "z": 0.1614287793636322
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -922.2835083007812,
                        "y": 6486.13134765625,
                        "z": 362.66619873046875
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -905.2045288085938,
                        "y": 6486.259765625,
                        "z": 362.3266296386719
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -884.8837890625,
                        "y": 6486.4140625,
                        "z": 361.9056701660156
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -863.4913330078125,
                        "y": 6486.57666015625,
                        "z": 361.4132995605469
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1238.0499267578125,
                        "y": 6469.79443359375,
                        "z": 371.7281188964844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1218.103271484375,
                        "y": 6471.90087890625,
                        "z": 371.2283020019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1193.2933349609375,
                        "y": 6474.52099609375,
                        "z": 370.53924560546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.1466064453125,
                        "y": 6478.02099609375,
                        "z": 369.50286865234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.630301475524902,
                "transform": {
                    "location": {
                        "x": -1117.68408203125,
                        "y": 6482.13720703125,
                        "z": 367.9840087890625
                    },
                    "rotation": {
                        "roll": -0.0291137658059597,
                        "pitch": 2.1854896545410156,
                        "yaw": -175.53622436523438
                    }
                },
                "velocity": {
                    "x": -9.594320297241211,
                    "y": -0.7494695782661438,
                    "z": 0.3605916500091553
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -981.5726318359375,
                        "y": 6485.6796875,
                        "z": 363.6225280761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06663521379232407,
        "expert_target_speed": 10.586251673260549,
        "target_point": [
            19.318891091233294,
            0.04224707357636098
        ],
        "target_point_next": [
            70.81024283105862,
            2.258477947005184
        ]
    },
    "830": {
        "acceleration": [
            -0.1753997802734375,
            -0.15986263751983643,
            -0.04263937473297119
        ],
        "angular_velocity": [
            -0.028168871998786926,
            -0.07932780683040619,
            -1.2664930820465088
        ],
        "forward_vector": [
            -0.9987009167671204,
            -0.02924470044672489,
            0.041728295385837555
        ],
        "right_vector": [
            0.02930319868028164,
            -0.9995703101158142,
            0.0007908015977591276
        ],
        "location": [
            -1065.3297119140625,
            6484.77587890625,
            365.9835510253906
        ],
        "rotation": [
            -0.04534909874200821,
            2.391549587249756,
            -178.3227081298828
        ],
        "velocity": [
            -9.561774253845215,
            -0.29357343912124634,
            0.38684454560279846
        ],
        "speed": 9.566279958565643,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 33.156211853027344,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1098.4354248046875,
                6483.46435546875,
                367.25872802734375
            ],
            "velocity": [
                -9.589532852172852,
                -0.5561593770980835,
                0.36470261216163635
            ],
            "speed_kmh": 34.605244428548176,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.555685043334961,
                "transform": {
                    "location": {
                        "x": -1023.6396484375,
                        "y": 6485.36474609375,
                        "z": 364.4239501953125
                    },
                    "rotation": {
                        "roll": -0.0035095210187137127,
                        "pitch": 1.6104766130447388,
                        "yaw": -179.67453002929688
                    }
                },
                "velocity": {
                    "x": -9.55137825012207,
                    "y": -0.07233018428087234,
                    "z": 0.2775900363922119
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -846.1286010742188,
                        "y": 6486.7080078125,
                        "z": 361.07440185546875
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -944.4310913085938,
                        "y": 6485.962890625,
                        "z": 363.04107666015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.612567901611328,
                "transform": {
                    "location": {
                        "x": -1098.4354248046875,
                        "y": 6483.46435546875,
                        "z": 367.25872802734375
                    },
                    "rotation": {
                        "roll": -0.01034544873982668,
                        "pitch": 2.1843831539154053,
                        "yaw": -176.6837158203125
                    }
                },
                "velocity": {
                    "x": -9.589532852172852,
                    "y": -0.5561593770980835,
                    "z": 0.36470261216163635
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.166950225830078,
                "transform": {
                    "location": {
                        "x": -1048.397216796875,
                        "y": 6485.16748046875,
                        "z": 365.3263244628906
                    },
                    "rotation": {
                        "roll": -0.00164794793818146,
                        "pitch": 2.36306095123291,
                        "yaw": -179.4369354248047
                    }
                },
                "velocity": {
                    "x": -9.158974647521973,
                    "y": -0.09125631302595139,
                    "z": 0.3712531328201294
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -964.1500854492188,
                        "y": 6485.8134765625,
                        "z": 363.34979248046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.259379386901855,
                "transform": {
                    "location": {
                        "x": -1002.1596069335938,
                        "y": 6485.52587890625,
                        "z": 363.9510803222656
                    },
                    "rotation": {
                        "roll": -6.1034748796373606e-05,
                        "pitch": 1.0126711130142212,
                        "yaw": -179.56658935546875
                    }
                },
                "velocity": {
                    "x": -9.257742881774902,
                    "y": -0.07002728432416916,
                    "z": 0.15937922894954681
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -924.763671875,
                        "y": 6486.111328125,
                        "z": 362.7146301269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -907.6612548828125,
                        "y": 6486.2421875,
                        "z": 362.37548828125
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -887.3130493164062,
                        "y": 6486.3955078125,
                        "z": 361.9582214355469
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -865.9479370117188,
                        "y": 6486.55712890625,
                        "z": 361.47174072265625
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1240.5352783203125,
                        "y": 6469.5322265625,
                        "z": 371.7873840332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1220.588623046875,
                        "y": 6471.638671875,
                        "z": 371.2930908203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1195.7786865234375,
                        "y": 6474.2587890625,
                        "z": 370.61151123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.63134765625,
                        "y": 6477.7587890625,
                        "z": 369.5859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8902684450149536,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.631436347961426,
                "transform": {
                    "location": {
                        "x": -1120.0821533203125,
                        "y": 6481.9453125,
                        "z": 368.07318115234375
                    },
                    "rotation": {
                        "roll": -0.04339597746729851,
                        "pitch": 2.1476504802703857,
                        "yaw": -175.3834228515625
                    }
                },
                "velocity": {
                    "x": -9.592852592468262,
                    "y": -0.7851452231407166,
                    "z": 0.35397446155548096
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -983.9943237304688,
                        "y": 6485.66259765625,
                        "z": 363.6604309082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.08051291853189468,
        "expert_target_speed": 10.627069509514735,
        "target_point": [
            16.93244304285957,
            -0.024436657017574026
        ],
        "target_point_next": [
            68.43129535907582,
            2.0100641149903544
        ]
    },
    "835": {
        "acceleration": [
            -0.052547454833984375,
            -0.1511603593826294,
            0.0017714500427246094
        ],
        "angular_velocity": [
            0.12049055844545364,
            -0.20092326402664185,
            3.055083990097046
        ],
        "forward_vector": [
            -0.9985947608947754,
            -0.03353753313422203,
            0.04103366658091545
        ],
        "right_vector": [
            0.033597420901060104,
            -0.9994351267814636,
            0.0007706018513999879
        ],
        "location": [
            -1067.7249755859375,
            6484.69873046875,
            366.0802307128906
        ],
        "rotation": [
            -0.044189453125,
            2.3517160415649414,
            -178.0764617919922
        ],
        "velocity": [
            -9.596427917480469,
            -0.33193373680114746,
            0.38512367010116577
        ],
        "speed": 9.602166879461391,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 33.15996551513672,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1100.8319091796875,
                6483.3193359375,
                367.3496398925781
            ],
            "velocity": [
                -9.58384895324707,
                -0.5913480520248413,
                0.3645612895488739
            ],
            "speed_kmh": 34.59237699864226,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.62722396850586,
                "transform": {
                    "location": {
                        "x": -1026.03759765625,
                        "y": 6485.3466796875,
                        "z": 364.4930114746094
                    },
                    "rotation": {
                        "roll": -0.002716063754633069,
                        "pitch": 1.7316645383834839,
                        "yaw": -179.66799926757812
                    }
                },
                "velocity": {
                    "x": -9.62264633178711,
                    "y": -0.07250768691301346,
                    "z": 0.2878535985946655
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -848.60888671875,
                        "y": 6486.689453125,
                        "z": 361.1120910644531
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -946.8345336914062,
                        "y": 6485.9443359375,
                        "z": 363.0787048339844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.608993530273438,
                "transform": {
                    "location": {
                        "x": -1100.8319091796875,
                        "y": 6483.3193359375,
                        "z": 367.3496398925781
                    },
                    "rotation": {
                        "roll": -0.012786855921149254,
                        "pitch": 2.1830854415893555,
                        "yaw": -176.48670959472656
                    }
                },
                "velocity": {
                    "x": -9.58384895324707,
                    "y": -0.5913480520248413,
                    "z": 0.3645612895488739
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.234091758728027,
                "transform": {
                    "location": {
                        "x": -1050.6961669921875,
                        "y": 6485.14111328125,
                        "z": 365.4207458496094
                    },
                    "rotation": {
                        "roll": -0.004302977584302425,
                        "pitch": 2.378032684326172,
                        "yaw": -179.32139587402344
                    }
                },
                "velocity": {
                    "x": -9.225440979003906,
                    "y": -0.119742751121521,
                    "z": 0.38125327229499817
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -966.5324096679688,
                        "y": 6485.79541015625,
                        "z": 363.3871154785156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.712875366210938,
                "transform": {
                    "location": {
                        "x": -1004.5363159179688,
                        "y": 6485.5078125,
                        "z": 363.9927673339844
                    },
                    "rotation": {
                        "roll": -0.0002441410906612873,
                        "pitch": 0.9555980563163757,
                        "yaw": -179.56642150878906
                    }
                },
                "velocity": {
                    "x": -9.711156845092773,
                    "y": -0.07338781654834747,
                    "z": 0.1673225313425064
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -927.1951293945312,
                        "y": 6486.0927734375,
                        "z": 362.7608642578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -910.1234130859375,
                        "y": 6486.22314453125,
                        "z": 362.4244384765625
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -889.8123168945312,
                        "y": 6486.3759765625,
                        "z": 362.0121765136719
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -868.4468383789062,
                        "y": 6486.53857421875,
                        "z": 361.5313720703125
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -831.80224609375,
                        "y": 6486.81591796875,
                        "z": 361.0177001953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1243.0206298828125,
                        "y": 6469.26904296875,
                        "z": 371.8464660644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1223.073974609375,
                        "y": 6471.3759765625,
                        "z": 371.357421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1198.2640380859375,
                        "y": 6473.99658203125,
                        "z": 370.68316650390625
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.1160888671875,
                        "y": 6477.49658203125,
                        "z": 369.6675720214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.631074905395508,
                "transform": {
                    "location": {
                        "x": -1122.47998046875,
                        "y": 6481.748046875,
                        "z": 368.1612854003906
                    },
                    "rotation": {
                        "roll": -0.030029311776161194,
                        "pitch": 2.1297075748443604,
                        "yaw": -175.2520294189453
                    }
                },
                "velocity": {
                    "x": -9.591654777526855,
                    "y": -0.7972100377082825,
                    "z": 0.34960541129112244
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -986.3575439453125,
                        "y": 6485.64501953125,
                        "z": 363.69744873046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.09260957688093185,
        "expert_target_speed": 10.661169553281137,
        "target_point": [
            14.5356781328528,
            -0.09391310914987483
        ],
        "target_point_next": [
            66.04279855954101,
            1.719241222226827
        ]
    },
    "840": {
        "acceleration": [
            0.3056907653808594,
            0.09480416774749756,
            -0.026524066925048828
        ],
        "angular_velocity": [
            0.06371232122182846,
            -0.2534606456756592,
            -2.6246838569641113
        ],
        "forward_vector": [
            -0.9985992908477783,
            -0.03432665765285492,
            0.04026385024189949
        ],
        "right_vector": [
            0.03435959666967392,
            -0.999409556388855,
            0.00012613146100193262
        ],
        "location": [
            -1070.1187744140625,
            6484.61572265625,
            366.1755065917969
        ],
        "rotation": [
            -0.007232665549963713,
            2.307572364807129,
            -178.03125
        ],
        "velocity": [
            -9.545573234558105,
            -0.3221115469932556,
            0.37594619393348694
        ],
        "speed": 9.551006450893983,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 33.16520309448242,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1103.228271484375,
                6483.16943359375,
                367.4404602050781
            ],
            "velocity": [
                -9.586633682250977,
                -0.6036354899406433,
                0.3649832010269165
            ],
            "speed_kmh": 34.60518307040782,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.552652359008789,
                "transform": {
                    "location": {
                        "x": -1028.4337158203125,
                        "y": 6485.32861328125,
                        "z": 364.5653076171875
                    },
                    "rotation": {
                        "roll": -0.0025939946062862873,
                        "pitch": 1.728331446647644,
                        "yaw": -179.6742706298828
                    }
                },
                "velocity": {
                    "x": -9.547736167907715,
                    "y": -0.0723068043589592,
                    "z": 0.29779455065727234
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -851.0494384765625,
                        "y": 6486.67041015625,
                        "z": 361.15380859375
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -949.2939453125,
                        "y": 6485.92529296875,
                        "z": 363.11724853515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.612550735473633,
                "transform": {
                    "location": {
                        "x": -1103.228271484375,
                        "y": 6483.16943359375,
                        "z": 367.4404602050781
                    },
                    "rotation": {
                        "roll": -0.009887694381177425,
                        "pitch": 2.1834816932678223,
                        "yaw": -176.39901733398438
                    }
                },
                "velocity": {
                    "x": -9.586633682250977,
                    "y": -0.6036354899406433,
                    "z": 0.3649832010269165
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.202540397644043,
                "transform": {
                    "location": {
                        "x": -1053.0003662109375,
                        "y": 6485.111328125,
                        "z": 365.5157470703125
                    },
                    "rotation": {
                        "roll": -0.00543212890625,
                        "pitch": 2.370861053466797,
                        "yaw": -179.2340087890625
                    }
                },
                "velocity": {
                    "x": -9.193864822387695,
                    "y": -0.12466057389974594,
                    "z": 0.37954580783843994
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -969.012939453125,
                        "y": 6485.775390625,
                        "z": 363.4259338378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.495035171508789,
                "transform": {
                    "location": {
                        "x": -1006.9384155273438,
                        "y": 6485.48974609375,
                        "z": 364.03741455078125
                    },
                    "rotation": {
                        "roll": 0.0012234695022925735,
                        "pitch": 1.1207929849624634,
                        "yaw": -179.56472778320312
                    }
                },
                "velocity": {
                    "x": -9.492904663085938,
                    "y": -0.07040802389383316,
                    "z": 0.18837887048721313
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -929.6264038085938,
                        "y": 6486.07470703125,
                        "z": 362.8045654296875
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -912.5237426757812,
                        "y": 6486.205078125,
                        "z": 362.47216796875
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -892.1756591796875,
                        "y": 6486.3583984375,
                        "z": 362.0617980957031
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -870.865966796875,
                        "y": 6486.52001953125,
                        "z": 361.5882263183594
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -834.2700805664062,
                        "y": 6486.7978515625,
                        "z": 360.9418640136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33552,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1245.5059814453125,
                        "y": 6469.0068359375,
                        "z": 371.9054870605469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1225.559326171875,
                        "y": 6471.11376953125,
                        "z": 371.4206848144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1200.7493896484375,
                        "y": 6473.7333984375,
                        "z": 370.7540588378906
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.600830078125,
                        "y": 6477.234375,
                        "z": 369.7490539550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8523130416870117,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.631501197814941,
                "transform": {
                    "location": {
                        "x": -1124.8773193359375,
                        "y": 6481.54443359375,
                        "z": 368.24835205078125
                    },
                    "rotation": {
                        "roll": -0.042846690863370895,
                        "pitch": 2.1129393577575684,
                        "yaw": -175.102783203125
                    }
                },
                "velocity": {
                    "x": -9.589164733886719,
                    "y": -0.8316752314567566,
                    "z": 0.3493771255016327
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -988.8090209960938,
                        "y": 6485.6259765625,
                        "z": 363.7358093261719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.09569760411977768,
        "expert_target_speed": 10.612141342735903,
        "target_point": [
            12.140362009138592,
            -0.10610491549250006
        ],
        "target_point_next": [
            63.64889727565945,
            1.6664012132216177
        ]
    },
    "845": {
        "acceleration": [
            0.25684356689453125,
            0.1077049970626831,
            -0.02621769905090332
        ],
        "angular_velocity": [
            0.13825929164886475,
            -0.013861434534192085,
            1.6094236373901367
        ],
        "forward_vector": [
            -0.9987029433250427,
            -0.032279010862112045,
            0.03937763348221779
        ],
        "right_vector": [
            0.03229529783129692,
            -0.9994783997535706,
            -0.00022254299256019294
        ],
        "location": [
            -1072.4951171875,
            6484.5380859375,
            366.2691345214844
        ],
        "rotation": [
            0.012760670855641365,
            2.256755828857422,
            -178.14878845214844
        ],
        "velocity": [
            -9.475578308105469,
            -0.2971050441265106,
            0.3705269396305084
        ],
        "speed": 9.480235001321661,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 33.18803787231445,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1105.6240234375,
                6483.01220703125,
                367.53131103515625
            ],
            "velocity": [
                -9.58051872253418,
                -0.6394392848014832,
                0.36386817693710327
            ],
            "speed_kmh": 34.59141477996874,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.623665809631348,
                "transform": {
                    "location": {
                        "x": -1030.830810546875,
                        "y": 6485.310546875,
                        "z": 364.6405334472656
                    },
                    "rotation": {
                        "roll": -0.0019531240686774254,
                        "pitch": 1.8812525272369385,
                        "yaw": -179.6657257080078
                    }
                },
                "velocity": {
                    "x": -9.61843204498291,
                    "y": -0.07284588366746902,
                    "z": 0.30885258316993713
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -853.5089111328125,
                        "y": 6486.65185546875,
                        "z": 361.1979064941406
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -951.7201538085938,
                        "y": 6485.908203125,
                        "z": 363.1551818847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.608726501464844,
                "transform": {
                    "location": {
                        "x": -1105.6240234375,
                        "y": 6483.01220703125,
                        "z": 367.53131103515625
                    },
                    "rotation": {
                        "roll": -0.01339721865952015,
                        "pitch": 2.179868459701538,
                        "yaw": -176.19989013671875
                    }
                },
                "velocity": {
                    "x": -9.58051872253418,
                    "y": -0.6394392848014832,
                    "z": 0.36386817693710327
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.128010749816895,
                "transform": {
                    "location": {
                        "x": -1055.289794921875,
                        "y": 6485.0771484375,
                        "z": 365.6100769042969
                    },
                    "rotation": {
                        "roll": -0.011413570493459702,
                        "pitch": 2.3576719760894775,
                        "yaw": -179.1138458251953
                    }
                },
                "velocity": {
                    "x": -9.118917465209961,
                    "y": -0.15648990869522095,
                    "z": 0.3760676383972168
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -971.4174194335938,
                        "y": 6485.75732421875,
                        "z": 363.4635925292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.611966133117676,
                "transform": {
                    "location": {
                        "x": -1009.32373046875,
                        "y": 6485.47119140625,
                        "z": 364.0851745605469
                    },
                    "rotation": {
                        "roll": -0.0008544916636310518,
                        "pitch": 1.1714593172073364,
                        "yaw": -179.5630340576172
                    }
                },
                "velocity": {
                    "x": -9.609664916992188,
                    "y": -0.07039310038089752,
                    "z": 0.19822362065315247
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -932.0774536132812,
                        "y": 6486.056640625,
                        "z": 362.84600830078125
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -914.997802734375,
                        "y": 6486.18505859375,
                        "z": 362.5213623046875
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -894.6749267578125,
                        "y": 6486.34033203125,
                        "z": 362.11419677734375
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -873.3462524414062,
                        "y": 6486.501953125,
                        "z": 361.6461181640625
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -836.7017211914062,
                        "y": 6486.77978515625,
                        "z": 360.9626770019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1228.044677734375,
                        "y": 6470.8505859375,
                        "z": 371.48345947265625
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1203.2347412109375,
                        "y": 6473.47119140625,
                        "z": 370.8241271972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.08544921875,
                        "y": 6476.9716796875,
                        "z": 369.8289794921875
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.63196849822998,
                "transform": {
                    "location": {
                        "x": -1127.2745361328125,
                        "y": 6481.3349609375,
                        "z": 368.3353576660156
                    },
                    "rotation": {
                        "roll": -0.028930671513080597,
                        "pitch": 2.1057541370391846,
                        "yaw": -174.96810913085938
                    }
                },
                "velocity": {
                    "x": -9.588573455810547,
                    "y": -0.8453955054283142,
                    "z": 0.3455081880092621
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -991.190673828125,
                        "y": 6485.6083984375,
                        "z": 363.7730712890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.08253642916679382,
        "expert_target_speed": 10.544522072551676,
        "target_point": [
            9.762943650845774,
            -0.08202575259244652
        ],
        "target_point_next": [
            61.267733612528275,
            1.7961633437773088
        ]
    },
    "850": {
        "acceleration": [
            0.2886390686035156,
            0.10608971118927002,
            -0.021235346794128418
        ],
        "angular_velocity": [
            -0.08638257533311844,
            -0.19575181603431702,
            -2.835251808166504
        ],
        "forward_vector": [
            -0.9988189339637756,
            -0.029286054894328117,
            0.03876810893416405
        ],
        "right_vector": [
            0.0292985662817955,
            -0.9995706677436829,
            -0.00024549340014345944
        ],
        "location": [
            -1074.855224609375,
            6484.466796875,
            366.3605651855469
        ],
        "rotation": [
            0.014076318591833115,
            2.2218058109283447,
            -178.32052612304688
        ],
        "velocity": [
            -9.407835006713867,
            -0.26993048191070557,
            0.36188751459121704
        ],
        "speed": 9.411706645376038,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 33.227622985839844,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1108.01953125,
                6482.8505859375,
                367.62213134765625
            ],
            "velocity": [
                -9.583637237548828,
                -0.6506974697113037,
                0.36366477608680725
            ],
            "speed_kmh": 34.60530067919281,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.550395965576172,
                "transform": {
                    "location": {
                        "x": -1033.2259521484375,
                        "y": 6485.29248046875,
                        "z": 364.71929931640625
                    },
                    "rotation": {
                        "roll": -0.0029907217249274254,
                        "pitch": 1.9025764465332031,
                        "yaw": -179.6717987060547
                    }
                },
                "velocity": {
                    "x": -9.544882774353027,
                    "y": -0.07219042629003525,
                    "z": 0.3163370192050934
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -855.9832763671875,
                        "y": 6486.63232421875,
                        "z": 361.2469787597656
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -954.2197265625,
                        "y": 6485.88916015625,
                        "z": 363.1942443847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.61258316040039,
                "transform": {
                    "location": {
                        "x": -1108.01953125,
                        "y": 6482.8505859375,
                        "z": 367.62213134765625
                    },
                    "rotation": {
                        "roll": -0.008331297896802425,
                        "pitch": 2.183939218521118,
                        "yaw": -176.11668395996094
                    }
                },
                "velocity": {
                    "x": -9.583637237548828,
                    "y": -0.6506974697113037,
                    "z": 0.36366477608680725
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.041619300842285,
                "transform": {
                    "location": {
                        "x": -1057.556884765625,
                        "y": 6485.03857421875,
                        "z": 365.7033996582031
                    },
                    "rotation": {
                        "roll": -0.0047607421875,
                        "pitch": 2.3627946376800537,
                        "yaw": -178.98963928222656
                    }
                },
                "velocity": {
                    "x": -9.032483100891113,
                    "y": -0.16303370893001556,
                    "z": 0.37220877408981323
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -973.8943481445312,
                        "y": 6485.73974609375,
                        "z": 363.5023498535156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.585373878479004,
                "transform": {
                    "location": {
                        "x": -1011.72607421875,
                        "y": 6485.45361328125,
                        "z": 364.13592529296875
                    },
                    "rotation": {
                        "roll": -0.00027465843595564365,
                        "pitch": 1.2156574726104736,
                        "yaw": -179.568115234375
                    }
                },
                "velocity": {
                    "x": -9.582642555236816,
                    "y": -0.07018260657787323,
                    "z": 0.21775738894939423
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -934.5521850585938,
                        "y": 6486.03759765625,
                        "z": 362.8861389160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -917.4490356445312,
                        "y": 6486.16748046875,
                        "z": 362.5700988769531
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -897.1010131835938,
                        "y": 6486.322265625,
                        "z": 362.1639709472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -875.8206787109375,
                        "y": 6486.48291015625,
                        "z": 361.7031555175781
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -839.2012939453125,
                        "y": 6486.76123046875,
                        "z": 360.9842834472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1230.530029296875,
                        "y": 6470.587890625,
                        "z": 371.54522705078125
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1205.7200927734375,
                        "y": 6473.20849609375,
                        "z": 370.8935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1172.5701904296875,
                        "y": 6476.7099609375,
                        "z": 369.9088134765625
                    },
                    "rotation": {
                        "roll": 1.3346904026434459e-08,
                        "pitch": 1.8143781423568726,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.631491661071777,
                "transform": {
                    "location": {
                        "x": -1129.6712646484375,
                        "y": 6481.119140625,
                        "z": 368.4220275878906
                    },
                    "rotation": {
                        "roll": -0.043792724609375,
                        "pitch": 2.109257936477661,
                        "yaw": -174.81895446777344
                    }
                },
                "velocity": {
                    "x": -9.585013389587402,
                    "y": -0.8795558214187622,
                    "z": 0.34573715925216675
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -993.6116943359375,
                        "y": 6485.58984375,
                        "z": 363.81097412109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0666496679186821,
        "expert_target_speed": 10.479016131090711,
        "target_point": [
            58.900892593664324,
            1.9776821868598373
        ],
        "target_point_next": [
            110.66399500518558,
            5.8602042698642975
        ]
    },
    "855": {
        "acceleration": [
            0.5265426635742188,
            0.07619082927703857,
            -0.05218505859375
        ],
        "angular_velocity": [
            0.06172420084476471,
            -0.1197681725025177,
            1.94515860080719
        ],
        "forward_vector": [
            -0.99888014793396,
            -0.0277719683945179,
            0.03830401599407196
        ],
        "right_vector": [
            0.02779099904000759,
            -0.9996137619018555,
            -3.562658093869686e-05
        ],
        "location": [
            -1077.1966552734375,
            6484.40087890625,
            366.4504089355469
        ],
        "rotation": [
            0.002042751759290695,
            2.195195436477661,
            -178.40740966796875
        ],
        "velocity": [
            -9.317550659179688,
            -0.2528363764286041,
            0.3544076383113861
        ],
        "speed": 9.320980448409136,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 33.286434173583984,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1110.4146728515625,
                6482.681640625,
                367.7131042480469
            ],
            "velocity": [
                -9.577420234680176,
                -0.6861352920532227,
                0.3653571307659149
            ],
            "speed_kmh": 34.592093690244916,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.620072364807129,
                "transform": {
                    "location": {
                        "x": -1035.621826171875,
                        "y": 6485.2744140625,
                        "z": 364.80072021484375
                    },
                    "rotation": {
                        "roll": -0.003082275390625,
                        "pitch": 1.9869838953018188,
                        "yaw": -179.665771484375
                    }
                },
                "velocity": {
                    "x": -9.613837242126465,
                    "y": -0.07269679754972458,
                    "z": 0.33859488368034363
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -858.4825439453125,
                        "y": 6486.61474609375,
                        "z": 361.298583984375
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -956.6580810546875,
                        "y": 6485.86962890625,
                        "z": 363.2324523925781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.608915328979492,
                "transform": {
                    "location": {
                        "x": -1110.4146728515625,
                        "y": 6482.681640625,
                        "z": 367.7131042480469
                    },
                    "rotation": {
                        "roll": -0.013916015625,
                        "pitch": 2.1870946884155273,
                        "yaw": -175.919189453125
                    }
                },
                "velocity": {
                    "x": -9.577420234680176,
                    "y": -0.6861352920532227,
                    "z": 0.3653571307659149
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.013412475585938,
                "transform": {
                    "location": {
                        "x": -1059.8126220703125,
                        "y": 6484.99609375,
                        "z": 365.7962951660156
                    },
                    "rotation": {
                        "roll": -0.015991205349564552,
                        "pitch": 2.3648641109466553,
                        "yaw": -178.89793395996094
                    }
                },
                "velocity": {
                    "x": -9.003686904907227,
                    "y": -0.19308875501155853,
                    "z": 0.37141653895378113
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -976.3129272460938,
                        "y": 6485.72119140625,
                        "z": 363.5401916503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.602087020874023,
                "transform": {
                    "location": {
                        "x": -1014.123779296875,
                        "y": 6485.43505859375,
                        "z": 364.1899108886719
                    },
                    "rotation": {
                        "roll": -0.0003051753155887127,
                        "pitch": 1.359371542930603,
                        "yaw": -179.56036376953125
                    }
                },
                "velocity": {
                    "x": -9.599154472351074,
                    "y": -0.0736239105463028,
                    "z": 0.22558678686618805
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -937.0120239257812,
                        "y": 6486.0185546875,
                        "z": 362.9248352050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -919.9275512695312,
                        "y": 6486.1484375,
                        "z": 362.6193542480469
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -899.6002807617188,
                        "y": 6486.30224609375,
                        "z": 362.2146301269531
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -878.3200073242188,
                        "y": 6486.46435546875,
                        "z": 361.7599182128906
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -841.6760864257812,
                        "y": 6486.7412109375,
                        "z": 361.0143127441406
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1233.015625,
                        "y": 6470.326171875,
                        "z": 371.60662841796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1208.2054443359375,
                        "y": 6472.9462890625,
                        "z": 370.9621276855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1175.054931640625,
                        "y": 6476.447265625,
                        "z": 369.9870910644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.631836891174316,
                "transform": {
                    "location": {
                        "x": -1132.0672607421875,
                        "y": 6480.89794921875,
                        "z": 368.50872802734375
                    },
                    "rotation": {
                        "roll": -0.029205327853560448,
                        "pitch": 2.1057541370391846,
                        "yaw": -174.6837921142578
                    }
                },
                "velocity": {
                    "x": -9.58419418334961,
                    "y": -0.8920179009437561,
                    "z": 0.3461335003376007
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -996.0083618164062,
                        "y": 6485.572265625,
                        "z": 363.8484802246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.046348024159669876,
        "expert_target_speed": 10.392279918429663,
        "target_point": [
            56.55546682431587,
            2.0662029311273087
        ],
        "target_point_next": [
            108.3126206081254,
            6.027235774938115
        ]
    },
    "860": {
        "acceleration": [
            0.9026718139648438,
            0.03519117832183838,
            -0.04003703594207764
        ],
        "angular_velocity": [
            -0.17030169069766998,
            -0.24690547585487366,
            -2.5312247276306152
        ],
        "forward_vector": [
            -0.9989600777626038,
            -0.02619110606610775,
            0.037321243435144424
        ],
        "right_vector": [
            0.02621842734515667,
            -0.9996562600135803,
            0.00024271116126328707
        ],
        "location": [
            -1079.4986572265625,
            6484.33984375,
            366.5379638671875
        ],
        "rotation": [
            -0.013916020281612873,
            2.1388463973999023,
            -178.49813842773438
        ],
        "velocity": [
            -9.101712226867676,
            -0.23788462579250336,
            0.34544411301612854
        ],
        "speed": 9.104820402177134,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 33.384971618652344,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1112.809326171875,
                6482.5087890625,
                367.8039855957031
            ],
            "velocity": [
                -9.58035945892334,
                -0.698412299156189,
                0.3648822009563446
            ],
            "speed_kmh": 34.60575835530709,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.546144485473633,
                "transform": {
                    "location": {
                        "x": -1038.016357421875,
                        "y": 6485.25634765625,
                        "z": 364.8849792480469
                    },
                    "rotation": {
                        "roll": -0.004760741256177425,
                        "pitch": 2.091581344604492,
                        "yaw": -179.67245483398438
                    }
                },
                "velocity": {
                    "x": -9.539581298828125,
                    "y": -0.0722399652004242,
                    "z": 0.34647780656814575
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -860.9204711914062,
                        "y": 6486.595703125,
                        "z": 361.3534240722656
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -959.15771484375,
                        "y": 6485.8505859375,
                        "z": 363.2716369628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.612710952758789,
                "transform": {
                    "location": {
                        "x": -1112.809326171875,
                        "y": 6482.5087890625,
                        "z": 367.8039855957031
                    },
                    "rotation": {
                        "roll": -0.008758539333939552,
                        "pitch": 2.1823067665100098,
                        "yaw": -175.83364868164062
                    }
                },
                "velocity": {
                    "x": -9.58035945892334,
                    "y": -0.698412299156189,
                    "z": 0.3648822009563446
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.823280334472656,
                "transform": {
                    "location": {
                        "x": -1062.0421142578125,
                        "y": 6484.94775390625,
                        "z": 365.8879699707031
                    },
                    "rotation": {
                        "roll": -0.006439206190407276,
                        "pitch": 2.343417167663574,
                        "yaw": -178.73117065429688
                    }
                },
                "velocity": {
                    "x": -8.813642501831055,
                    "y": -0.20112861692905426,
                    "z": 0.35990118980407715
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -978.79052734375,
                        "y": 6485.70166015625,
                        "z": 363.5789489746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.567765235900879,
                "transform": {
                    "location": {
                        "x": -1016.51904296875,
                        "y": 6485.41650390625,
                        "z": 364.2467956542969
                    },
                    "rotation": {
                        "roll": 0.0006809066981077194,
                        "pitch": 1.346940517425537,
                        "yaw": -179.56394958496094
                    }
                },
                "velocity": {
                    "x": -9.56472396850586,
                    "y": -0.07266665995121002,
                    "z": 0.230012446641922
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -939.4900512695312,
                        "y": 6485.9990234375,
                        "z": 362.9636535644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -922.3862915039062,
                        "y": 6486.13037109375,
                        "z": 362.66827392578125
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -902.0382690429688,
                        "y": 6486.2841796875,
                        "z": 362.2635192871094
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -880.758056640625,
                        "y": 6486.4453125,
                        "z": 361.81463623046875
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -844.1359252929688,
                        "y": 6486.72314453125,
                        "z": 361.044921875
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.500732421875,
                        "y": 6470.0634765625,
                        "z": 371.6668701171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1210.6907958984375,
                        "y": 6472.68408203125,
                        "z": 371.0299987792969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1177.5396728515625,
                        "y": 6476.18505859375,
                        "z": 370.0652160644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.776436448097229,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.631383895874023,
                "transform": {
                    "location": {
                        "x": -1134.462890625,
                        "y": 6480.671875,
                        "z": 368.5953674316406
                    },
                    "rotation": {
                        "roll": -0.0445251539349556,
                        "pitch": 2.1039440631866455,
                        "yaw": -174.5700225830078
                    }
                },
                "velocity": {
                    "x": -9.580768585205078,
                    "y": -0.9237709641456604,
                    "z": 0.3450646996498108
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -998.4244384765625,
                        "y": 6485.5537109375,
                        "z": 363.8863220214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.018927544355392456,
        "expert_target_speed": 10.18546465358248,
        "target_point": [
            54.2493140992144,
            2.1550538258340923
        ],
        "target_point_next": [
            106.00013232009346,
            6.198018389145023
        ]
    },
    "865": {
        "acceleration": [
            0.687255859375,
            -0.09572505950927734,
            -0.01474142074584961
        ],
        "angular_velocity": [
            0.004788496065884829,
            0.022635579109191895,
            3.132927894592285
        ],
        "forward_vector": [
            -0.9989213943481445,
            -0.027893954887986183,
            0.037122417241334915
        ],
        "right_vector": [
            0.027942655608057976,
            -0.9996092319488525,
            0.0007936072652228177
        ],
        "location": [
            -1081.7479248046875,
            6484.27880859375,
            366.6230773925781
        ],
        "rotation": [
            -0.0455017127096653,
            2.1274466514587402,
            -178.40048217773438
        ],
        "velocity": [
            -8.910085678100586,
            -0.25699612498283386,
            0.3378292918205261
        ],
        "speed": 8.913791213582993,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 33.53631591796875,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1115.203369140625,
                6482.3291015625,
                367.8944091796875
            ],
            "velocity": [
                -9.57417106628418,
                -0.7308498024940491,
                0.3613082766532898
            ],
            "speed_kmh": 34.59175479468044,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.617569923400879,
                "transform": {
                    "location": {
                        "x": -1040.41064453125,
                        "y": 6485.2373046875,
                        "z": 364.9725646972656
                    },
                    "rotation": {
                        "roll": -0.0032043440733104944,
                        "pitch": 2.0973596572875977,
                        "yaw": -179.66233825683594
                    }
                },
                "velocity": {
                    "x": -9.61044979095459,
                    "y": -0.07326759397983551,
                    "z": 0.3626868426799774
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -863.4197387695312,
                        "y": 6486.57666015625,
                        "z": 361.4117126464844
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -961.6162109375,
                        "y": 6485.83251953125,
                        "z": 363.31011962890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.608820915222168,
                "transform": {
                    "location": {
                        "x": -1115.203369140625,
                        "y": 6482.3291015625,
                        "z": 367.8944091796875
                    },
                    "rotation": {
                        "roll": -0.015533447265625,
                        "pitch": 2.1605117321014404,
                        "yaw": -175.66122436523438
                    }
                },
                "velocity": {
                    "x": -9.57417106628418,
                    "y": -0.7308498024940491,
                    "z": 0.3613082766532898
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.63670825958252,
                "transform": {
                    "location": {
                        "x": -1064.2166748046875,
                        "y": 6484.89794921875,
                        "z": 365.97698974609375
                    },
                    "rotation": {
                        "roll": -0.01193237118422985,
                        "pitch": 2.3193204402923584,
                        "yaw": -178.65040588378906
                    }
                },
                "velocity": {
                    "x": -8.626668930053711,
                    "y": -0.2228814959526062,
                    "z": 0.35162001848220825
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -981.2296142578125,
                        "y": 6485.68310546875,
                        "z": 363.6170959472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.610299110412598,
                "transform": {
                    "location": {
                        "x": -1018.9165649414062,
                        "y": 6485.39794921875,
                        "z": 364.3072814941406
                    },
                    "rotation": {
                        "roll": -0.0007934567402116954,
                        "pitch": 1.4850332736968994,
                        "yaw": -179.56459045410156
                    }
                },
                "velocity": {
                    "x": -9.60673999786377,
                    "y": -0.07297822088003159,
                    "z": 0.25113970041275024
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -941.9702758789062,
                        "y": 6485.98193359375,
                        "z": 363.0025329589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -924.8856201171875,
                        "y": 6486.1103515625,
                        "z": 362.7170715332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -904.5374755859375,
                        "y": 6486.2646484375,
                        "z": 362.3133239746094
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -883.2573852539062,
                        "y": 6486.4267578125,
                        "z": 361.8700256347656
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -846.6139526367188,
                        "y": 6486.7041015625,
                        "z": 361.0818786621094
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.986083984375,
                        "y": 6469.80126953125,
                        "z": 371.7268371582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1213.1761474609375,
                        "y": 6472.4208984375,
                        "z": 371.09716796875
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1180.0242919921875,
                        "y": 6475.9228515625,
                        "z": 370.1419372558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.63165283203125,
                "transform": {
                    "location": {
                        "x": -1136.8580322265625,
                        "y": 6480.439453125,
                        "z": 368.6820373535156
                    },
                    "rotation": {
                        "roll": -0.030578618869185448,
                        "pitch": 2.1076254844665527,
                        "yaw": -174.4066925048828
                    }
                },
                "velocity": {
                    "x": -9.57947826385498,
                    "y": -0.9394165873527527,
                    "z": 0.34616339206695557
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1000.8419189453125,
                        "y": 6485.53466796875,
                        "z": 363.9254455566406
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0024418728426098824,
        "expert_target_speed": 10.002405408938948,
        "target_point": [
            52.00281315612866,
            2.0643712855177108
        ],
        "target_point_next": [
            103.76044630729973,
            6.019135447822926
        ]
    },
    "870": {
        "acceleration": [
            0.5870437622070312,
            -0.12512564659118652,
            -0.0168532133102417
        ],
        "angular_velocity": [
            -0.16243982315063477,
            0.02899777702987194,
            -1.6481329202651978
        ],
        "forward_vector": [
            -0.9988311529159546,
            -0.030831193551421165,
            0.03722582384943962
        ],
        "right_vector": [
            0.030894849449396133,
            -0.9995219707489014,
            0.0011358489282429218
        ],
        "location": [
            -1083.9544677734375,
            6484.2109375,
            366.7065124511719
        ],
        "rotation": [
            -0.0651245042681694,
            2.133375406265259,
            -178.23199462890625
        ],
        "velocity": [
            -8.7515230178833,
            -0.2830542027950287,
            0.3328610956668854
        ],
        "speed": 8.7560992921655,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 33.730587005615234,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1117.597412109375,
                6482.14404296875,
                367.98431396484375
            ],
            "velocity": [
                -9.577573776245117,
                -0.745452344417572,
                0.35825592279434204
            ],
            "speed_kmh": 34.607585853782005,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.543448448181152,
                "transform": {
                    "location": {
                        "x": -1042.8045654296875,
                        "y": 6485.21875,
                        "z": 365.0628356933594
                    },
                    "rotation": {
                        "roll": -0.003143309149891138,
                        "pitch": 2.253859758377075,
                        "yaw": -179.66847229003906
                    }
                },
                "velocity": {
                    "x": -9.53608226776123,
                    "y": -0.07250998169183731,
                    "z": 0.3678065538406372
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -865.8779296875,
                        "y": 6486.55712890625,
                        "z": 361.4701843261719
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -964.1158447265625,
                        "y": 6485.8134765625,
                        "z": 363.3492431640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.613218307495117,
                "transform": {
                    "location": {
                        "x": -1117.597412109375,
                        "y": 6482.14404296875,
                        "z": 367.98431396484375
                    },
                    "rotation": {
                        "roll": -0.010131827555596828,
                        "pitch": 2.1581826210021973,
                        "yaw": -175.55189514160156
                    }
                },
                "velocity": {
                    "x": -9.577573776245117,
                    "y": -0.745452344417572,
                    "z": 0.35825592279434204
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.445880889892578,
                "transform": {
                    "location": {
                        "x": -1066.3511962890625,
                        "y": 6484.841796875,
                        "z": 366.0633544921875
                    },
                    "rotation": {
                        "roll": -0.006835939362645149,
                        "pitch": 2.3035221099853516,
                        "yaw": -178.4718017578125
                    }
                },
                "velocity": {
                    "x": -8.435895919799805,
                    "y": -0.23275136947631836,
                    "z": 0.3382190763950348
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -983.6880493164062,
                        "y": 6485.66552734375,
                        "z": 363.6556091308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.564920425415039,
                "transform": {
                    "location": {
                        "x": -1021.3125610351562,
                        "y": 6485.38037109375,
                        "z": 364.37054443359375
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": 1.5342857837677002,
                        "yaw": -179.57037353515625
                    }
                },
                "velocity": {
                    "x": -9.561192512512207,
                    "y": -0.07171408832073212,
                    "z": 0.257205069065094
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -944.4482421875,
                        "y": 6485.96240234375,
                        "z": 363.0413513183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -927.343994140625,
                        "y": 6486.09228515625,
                        "z": 362.76373291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -906.9959106445312,
                        "y": 6486.24658203125,
                        "z": 362.36224365234375
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -885.7156982421875,
                        "y": 6486.40869140625,
                        "z": 361.923828125
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -849.0941162109375,
                        "y": 6486.68603515625,
                        "z": 361.1194763183594
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1240.471435546875,
                        "y": 6469.53857421875,
                        "z": 371.7859191894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1215.6614990234375,
                        "y": 6472.15869140625,
                        "z": 371.1635437011719
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1182.5093994140625,
                        "y": 6475.65966796875,
                        "z": 370.2184143066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.738487958908081,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.631625175476074,
                "transform": {
                    "location": {
                        "x": -1139.2525634765625,
                        "y": 6480.20166015625,
                        "z": 368.7688293457031
                    },
                    "rotation": {
                        "roll": -0.042022705078125,
                        "pitch": 2.106109142303467,
                        "yaw": -174.29754638671875
                    }
                },
                "velocity": {
                    "x": -9.576680183410645,
                    "y": -0.9672350883483887,
                    "z": 0.34618520736694336
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1003.2391967773438,
                        "y": 6485.5166015625,
                        "z": 363.9647521972656
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.01754746027290821,
        "expert_target_speed": 9.851315270207552,
        "target_point": [
            49.80107237178781,
            1.911679237155979
        ],
        "target_point_next": [
            101.57011131661407,
            5.714225189504054
        ]
    },
    "875": {
        "acceleration": [
            0.46108245849609375,
            -0.1759505271911621,
            -0.017930269241333008
        ],
        "angular_velocity": [
            0.06128579005599022,
            0.07745875418186188,
            3.6395795345306396
        ],
        "forward_vector": [
            -0.9986677169799805,
            -0.035446587949991226,
            0.03750099986791611
        ],
        "right_vector": [
            0.03552129119634628,
            -0.9993680119514465,
            0.0013274496886879206
        ],
        "location": [
            -1086.125244140625,
            6484.13671875,
            366.7887268066406
        ],
        "rotation": [
            -0.07611081749200821,
            2.149152994155884,
            -177.9672088623047
        ],
        "velocity": [
            -8.624103546142578,
            -0.320574015378952,
            0.3272465467453003
        ],
        "speed": 8.630059656452277,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 33.95998001098633,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1119.9906005859375,
                6481.953125,
                368.0731506347656
            ],
            "velocity": [
                -9.571473121643066,
                -0.7786740660667419,
                0.35406479239463806
            ],
            "speed_kmh": 34.59463131674356,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.615117073059082,
                "transform": {
                    "location": {
                        "x": -1045.19775390625,
                        "y": 6485.19970703125,
                        "z": 365.1568603515625
                    },
                    "rotation": {
                        "roll": -0.004699707496911287,
                        "pitch": 2.2617008686065674,
                        "yaw": -179.63453674316406
                    }
                },
                "velocity": {
                    "x": -9.607259750366211,
                    "y": -0.08292409777641296,
                    "z": 0.37969541549682617
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -868.3768310546875,
                        "y": 6486.53857421875,
                        "z": 361.5296936035156
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -966.554443359375,
                        "y": 6485.79541015625,
                        "z": 363.3874206542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.609619140625,
                "transform": {
                    "location": {
                        "x": -1119.9906005859375,
                        "y": 6481.953125,
                        "z": 368.0731506347656
                    },
                    "rotation": {
                        "roll": -0.014190672896802425,
                        "pitch": 2.115596294403076,
                        "yaw": -175.37677001953125
                    }
                },
                "velocity": {
                    "x": -9.571473121643066,
                    "y": -0.7786740660667419,
                    "z": 0.35406479239463806
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.31673812866211,
                "transform": {
                    "location": {
                        "x": -1068.4405517578125,
                        "y": 6484.7841796875,
                        "z": 366.14739990234375
                    },
                    "rotation": {
                        "roll": -0.005737303756177425,
                        "pitch": 2.2754364013671875,
                        "yaw": -178.4058837890625
                    }
                },
                "velocity": {
                    "x": -8.306851387023926,
                    "y": -0.2324429303407669,
                    "z": 0.3321567475795746
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -986.1069946289062,
                        "y": 6485.64697265625,
                        "z": 363.6935119628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.605755805969238,
                "transform": {
                    "location": {
                        "x": -1023.70849609375,
                        "y": 6485.36279296875,
                        "z": 364.43658447265625
                    },
                    "rotation": {
                        "roll": -0.00042724667582660913,
                        "pitch": 1.5912290811538696,
                        "yaw": -179.57040405273438
                    }
                },
                "velocity": {
                    "x": -9.601428985595703,
                    "y": -0.0720335990190506,
                    "z": 0.27915188670158386
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -946.9086303710938,
                        "y": 6485.9443359375,
                        "z": 363.0798645019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -929.82373046875,
                        "y": 6486.07275390625,
                        "z": 362.8082275390625
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -909.4755859375,
                        "y": 6486.2275390625,
                        "z": 362.41156005859375
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -888.2149658203125,
                        "y": 6486.38916015625,
                        "z": 361.9778137207031
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -851.5719604492188,
                        "y": 6486.666015625,
                        "z": 361.1632080078125
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1242.956787109375,
                        "y": 6469.27685546875,
                        "z": 371.84503173828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1218.1468505859375,
                        "y": 6471.89599609375,
                        "z": 371.2291259765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1184.9947509765625,
                        "y": 6475.3974609375,
                        "z": 370.2934265136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.631536483764648,
                "transform": {
                    "location": {
                        "x": -1141.6466064453125,
                        "y": 6479.95849609375,
                        "z": 368.85546875
                    },
                    "rotation": {
                        "roll": -0.03155520558357239,
                        "pitch": 2.1071746349334717,
                        "yaw": -174.1581268310547
                    }
                },
                "velocity": {
                    "x": -9.575218200683594,
                    "y": -0.9809219241142273,
                    "z": 0.34564459323883057
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1005.6558227539062,
                        "y": 6485.49853515625,
                        "z": 364.0096130371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.030734390020370483,
        "expert_target_speed": 9.73045297559591,
        "target_point": [
            47.63733242206358,
            1.6843326498945503
        ],
        "target_point_next": [
            99.42339194352459,
            5.247587935494133
        ]
    },
    "880": {
        "acceleration": [
            0.37872314453125,
            -0.20647108554840088,
            -0.011799931526184082
        ],
        "angular_velocity": [
            -0.09850461035966873,
            0.014583640731871128,
            -1.086059331893921
        ],
        "forward_vector": [
            -0.9984508156776428,
            -0.04088817909359932,
            0.03773770481348038
        ],
        "right_vector": [
            0.04097576066851616,
            -0.9991589784622192,
            0.0015499198343604803
        ],
        "location": [
            -1088.268310546875,
            6484.05126953125,
            366.8699035644531
        ],
        "rotation": [
            -0.0888672024011612,
            2.162724733352661,
            -177.6549530029297
        ],
        "velocity": [
            -8.5254487991333,
            -0.37198835611343384,
            0.3238859474658966
        ],
        "speed": 8.533560368552356,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 34.216827392578125,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1122.3836669921875,
                6481.75634765625,
                368.1610412597656
            ],
            "velocity": [
                -9.574666976928711,
                -0.7933446168899536,
                0.34906530380249023
            ],
            "speed_kmh": 34.609743573533855,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.540470123291016,
                "transform": {
                    "location": {
                        "x": -1047.590087890625,
                        "y": 6485.1787109375,
                        "z": 365.2526550292969
                    },
                    "rotation": {
                        "roll": -0.002990721259266138,
                        "pitch": 2.316615581512451,
                        "yaw": -179.56790161132812
                    }
                },
                "velocity": {
                    "x": -9.532120704650879,
                    "y": -0.09003156423568726,
                    "z": 0.3887600600719452
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -870.834716796875,
                        "y": 6486.52099609375,
                        "z": 361.587646484375
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -969.034423828125,
                        "y": 6485.775390625,
                        "z": 363.4262390136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.613818168640137,
                "transform": {
                    "location": {
                        "x": -1122.3836669921875,
                        "y": 6481.75634765625,
                        "z": 368.1610412597656
                    },
                    "rotation": {
                        "roll": -0.00967406015843153,
                        "pitch": 2.1050026416778564,
                        "yaw": -175.2672882080078
                    }
                },
                "velocity": {
                    "x": -9.574666976928711,
                    "y": -0.7933446168899536,
                    "z": 0.34906530380249023
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.216365814208984,
                "transform": {
                    "location": {
                        "x": -1070.5037841796875,
                        "y": 6484.72119140625,
                        "z": 366.2289733886719
                    },
                    "rotation": {
                        "roll": -0.008300778456032276,
                        "pitch": 2.2591259479522705,
                        "yaw": -178.23260498046875
                    }
                },
                "velocity": {
                    "x": -8.205760955810547,
                    "y": -0.26426875591278076,
                    "z": 0.32297849655151367
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -988.5648803710938,
                        "y": 6485.6279296875,
                        "z": 363.73199462890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.563421249389648,
                "transform": {
                    "location": {
                        "x": -1026.10400390625,
                        "y": 6485.34423828125,
                        "z": 364.5058898925781
                    },
                    "rotation": {
                        "roll": 0.0017837645718827844,
                        "pitch": 1.7175875902175903,
                        "yaw": -179.56394958496094
                    }
                },
                "velocity": {
                    "x": -9.558882713317871,
                    "y": -0.07459649443626404,
                    "z": 0.2849904000759125
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -949.3667602539062,
                        "y": 6485.92529296875,
                        "z": 363.11834716796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -932.2622680664062,
                        "y": 6486.0546875,
                        "z": 362.8492431640625
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -911.9140625,
                        "y": 6486.20947265625,
                        "z": 362.46002197265625
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -890.6337280273438,
                        "y": 6486.37060546875,
                        "z": 362.02935791015625
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -854.0517578125,
                        "y": 6486.6484375,
                        "z": 361.2076721191406
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33551,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1245.442138671875,
                        "y": 6469.01416015625,
                        "z": 371.904052734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1220.6322021484375,
                        "y": 6471.6337890625,
                        "z": 371.2940673828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1187.4801025390625,
                        "y": 6475.13525390625,
                        "z": 370.36822509765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.700539469718933,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.63265609741211,
                "transform": {
                    "location": {
                        "x": -1144.0401611328125,
                        "y": 6479.7119140625,
                        "z": 368.9416198730469
                    },
                    "rotation": {
                        "roll": -0.02728271298110485,
                        "pitch": 2.0793075561523438,
                        "yaw": -174.10914611816406
                    }
                },
                "velocity": {
                    "x": -9.575197219848633,
                    "y": -0.9935807585716248,
                    "z": 0.34124091267585754
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1008.05224609375,
                        "y": 6485.48046875,
                        "z": 364.0548095703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.037085987627506256,
        "expert_target_speed": 9.638125311639406,
        "target_point": [
            45.5010361747678,
            1.4270074321550037
        ],
        "target_point_next": [
            97.30574550713429,
            4.707988989505701
        ]
    },
    "885": {
        "acceleration": [
            0.46901702880859375,
            -0.14611124992370605,
            -0.03959357738494873
        ],
        "angular_velocity": [
            0.15844683349132538,
            -0.017442181706428528,
            3.922008752822876
        ],
        "forward_vector": [
            -0.9981542229652405,
            -0.04759809002280235,
            0.037717096507549286
        ],
        "right_vector": [
            0.04768611490726471,
            -0.9988613724708557,
            0.0014370833523571491
        ],
        "location": [
            -1090.3858642578125,
            6483.953125,
            366.9502258300781
        ],
        "rotation": [
            -0.0823974683880806,
            2.161543130874634,
            -177.2698516845703
        ],
        "velocity": [
            -8.415888786315918,
            -0.4189039170742035,
            0.318389356136322
        ],
        "speed": 8.42630788396544,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 34.498435974121094,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1124.7762451171875,
                6481.55322265625,
                368.24810791015625
            ],
            "velocity": [
                -9.56771469116211,
                -0.8260730504989624,
                0.3483273983001709
            ],
            "speed_kmh": 34.5946500809229,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.612595558166504,
                "transform": {
                    "location": {
                        "x": -1049.98291015625,
                        "y": 6485.1552734375,
                        "z": 365.35003662109375
                    },
                    "rotation": {
                        "roll": -0.004394528456032276,
                        "pitch": 2.3732924461364746,
                        "yaw": -179.48538208007812
                    }
                },
                "velocity": {
                    "x": -9.603797912597656,
                    "y": -0.10881946235895157,
                    "z": 0.3965151906013489
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -873.314453125,
                        "y": 6486.501953125,
                        "z": 361.6454162597656
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -971.5121459960938,
                        "y": 6485.7568359375,
                        "z": 363.4649963378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.609624862670898,
                "transform": {
                    "location": {
                        "x": -1124.7762451171875,
                        "y": 6481.55322265625,
                        "z": 368.24810791015625
                    },
                    "rotation": {
                        "roll": -0.013885509222745895,
                        "pitch": 2.0843210220336914,
                        "yaw": -175.09271240234375
                    }
                },
                "velocity": {
                    "x": -9.56771469116211,
                    "y": -0.8260730504989624,
                    "z": 0.3483273983001709
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.15456771850586,
                "transform": {
                    "location": {
                        "x": -1072.548095703125,
                        "y": 6484.6552734375,
                        "z": 366.3093566894531
                    },
                    "rotation": {
                        "roll": -0.0044555701315402985,
                        "pitch": 2.236572742462158,
                        "yaw": -178.14633178710938
                    }
                },
                "velocity": {
                    "x": -8.143990516662598,
                    "y": -0.26652202010154724,
                    "z": 0.31835079193115234
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -991.02294921875,
                        "y": 6485.6083984375,
                        "z": 363.7704162597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.606842994689941,
                "transform": {
                    "location": {
                        "x": -1028.4993896484375,
                        "y": 6485.326171875,
                        "z": 364.5779724121094
                    },
                    "rotation": {
                        "roll": -6.103485429775901e-05,
                        "pitch": 1.7087903022766113,
                        "yaw": -179.56394958496094
                    }
                },
                "velocity": {
                    "x": -9.602007865905762,
                    "y": -0.0710848718881607,
                    "z": 0.29634255170822144
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -951.8663330078125,
                        "y": 6485.90625,
                        "z": 363.15740966796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -934.7617797851562,
                        "y": 6486.03564453125,
                        "z": 362.88958740234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -914.413330078125,
                        "y": 6486.189453125,
                        "z": 362.50970458984375
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -893.1329345703125,
                        "y": 6486.3515625,
                        "z": 362.0819396972656
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -856.509765625,
                        "y": 6486.62841796875,
                        "z": 361.2578125
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1223.1175537109375,
                        "y": 6471.37158203125,
                        "z": 371.3583068847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1189.9654541015625,
                        "y": 6474.87255859375,
                        "z": 370.4415283203125
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.632644653320312,
                "transform": {
                    "location": {
                        "x": -1146.4334716796875,
                        "y": 6479.462890625,
                        "z": 369.02667236328125
                    },
                    "rotation": {
                        "roll": -0.018493646755814552,
                        "pitch": 2.043203115463257,
                        "yaw": -174.0373077392578
                    }
                },
                "velocity": {
                    "x": -9.574671745300293,
                    "y": -1.0000534057617188,
                    "z": 0.3367368280887604
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1010.4880981445312,
                        "y": 6485.4619140625,
                        "z": 364.1053771972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.031581129878759384,
        "expert_target_speed": 9.535181769590533,
        "target_point": [
            43.389774891842606,
            1.123973303942099
        ],
        "target_point_next": [
            95.21536693893168,
            4.056678191814771
        ]
    },
    "890": {
        "acceleration": [
            0.43056488037109375,
            -0.10326564311981201,
            -0.02889871597290039
        ],
        "angular_velocity": [
            -0.04688391089439392,
            0.01473796647042036,
            -1.7591040134429932
        ],
        "forward_vector": [
            -0.9979583024978638,
            -0.051587291061878204,
            0.03765622153878212
        ],
        "right_vector": [
            0.05166381597518921,
            -0.9986639618873596,
            0.001061315299011767
        ],
        "location": [
            -1092.474609375,
            6483.84619140625,
            367.029296875
        ],
        "rotation": [
            -0.0608520545065403,
            2.158052682876587,
            -177.0408477783203
        ],
        "velocity": [
            -8.300390243530273,
            -0.44347989559173584,
            0.3136807382106781
        ],
        "speed": 8.312229100108262,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 34.80855941772461,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1127.1685791015625,
                6481.34423828125,
                368.3348388671875
            ],
            "velocity": [
                -9.570863723754883,
                -0.83999103307724,
                0.34514638781547546
            ],
            "speed_kmh": 34.60986590913548,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.540409088134766,
                "transform": {
                    "location": {
                        "x": -1052.3743896484375,
                        "y": 6485.12744140625,
                        "z": 365.4488220214844
                    },
                    "rotation": {
                        "roll": -0.00903320126235485,
                        "pitch": 2.3627536296844482,
                        "yaw": -179.3540802001953
                    }
                },
                "velocity": {
                    "x": -9.531477928161621,
                    "y": -0.12500496208667755,
                    "z": 0.39334145188331604
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -875.813720703125,
                        "y": 6486.48291015625,
                        "z": 361.7029113769531
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -973.9920654296875,
                        "y": 6485.73779296875,
                        "z": 363.5038146972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.613851547241211,
                "transform": {
                    "location": {
                        "x": -1127.1685791015625,
                        "y": 6481.34423828125,
                        "z": 368.3348388671875
                    },
                    "rotation": {
                        "roll": -0.009002704173326492,
                        "pitch": 2.0798745155334473,
                        "yaw": -174.9862060546875
                    }
                },
                "velocity": {
                    "x": -9.570863723754883,
                    "y": -0.83999103307724,
                    "z": 0.34514638781547546
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.037800788879395,
                "transform": {
                    "location": {
                        "x": -1074.56787109375,
                        "y": 6484.5869140625,
                        "z": 366.3875427246094
                    },
                    "rotation": {
                        "roll": -0.010040287859737873,
                        "pitch": 2.2098803520202637,
                        "yaw": -178.02490234375
                    }
                },
                "velocity": {
                    "x": -8.026491165161133,
                    "y": -0.2934592366218567,
                    "z": 0.30912938714027405
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -993.458984375,
                        "y": 6485.591796875,
                        "z": 363.8086242675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.560282707214355,
                "transform": {
                    "location": {
                        "x": -1030.8941650390625,
                        "y": 6485.30712890625,
                        "z": 364.6537170410156
                    },
                    "rotation": {
                        "roll": 0.0015556211583316326,
                        "pitch": 1.8573811054229736,
                        "yaw": -179.566162109375
                    }
                },
                "velocity": {
                    "x": -9.55502700805664,
                    "y": -0.07239648699760437,
                    "z": 0.3085877299308777
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -954.3659057617188,
                        "y": 6485.88720703125,
                        "z": 363.1966247558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -937.2614135742188,
                        "y": 6486.017578125,
                        "z": 362.9288330078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -916.9124755859375,
                        "y": 6486.1708984375,
                        "z": 362.5594177246094
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -895.6322631835938,
                        "y": 6486.33251953125,
                        "z": 362.13385009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -859.009033203125,
                        "y": 6486.6103515625,
                        "z": 361.3094482421875
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -831.3025512695312,
                        "y": 6486.81982421875,
                        "z": 361.0330505371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1225.6029052734375,
                        "y": 6471.109375,
                        "z": 371.4217224121094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1192.4508056640625,
                        "y": 6474.6103515625,
                        "z": 370.51483154296875
                    },
                    "rotation": {
                        "roll": 1.3345840876866077e-08,
                        "pitch": 1.6640594005584717,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.632704734802246,
                "transform": {
                    "location": {
                        "x": -1148.8270263671875,
                        "y": 6479.21240234375,
                        "z": 369.11077880859375
                    },
                    "rotation": {
                        "roll": -0.012481683865189552,
                        "pitch": 2.0461196899414062,
                        "yaw": -174.03143310546875
                    }
                },
                "velocity": {
                    "x": -9.574312210083008,
                    "y": -1.0041606426239014,
                    "z": 0.3364459276199341
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1012.884033203125,
                        "y": 6485.44384765625,
                        "z": 364.1573791503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.028087159618735313,
        "expert_target_speed": 9.425626138072769,
        "target_point": [
            41.30244035243762,
            0.9515812806980488
        ],
        "target_point_next": [
            93.13933999584766,
            3.677124226551472
        ]
    },
    "895": {
        "acceleration": [
            0.3669929504394531,
            -0.09776532649993896,
            -0.02301335334777832
        ],
        "angular_velocity": [
            0.16531367599964142,
            0.047653719782829285,
            3.4327056407928467
        ],
        "forward_vector": [
            -0.9977375268936157,
            -0.05560644343495369,
            0.037787023931741714
        ],
        "right_vector": [
            0.055678680539131165,
            -0.9984484314918518,
            0.0008611832745373249
        ],
        "location": [
            -1094.536865234375,
            6483.732421875,
            367.10736083984375
        ],
        "rotation": [
            -0.0493774376809597,
            2.1655523777008057,
            -176.81005859375
        ],
        "velocity": [
            -8.203451156616211,
            -0.46794721484184265,
            0.3112792372703552
        ],
        "speed": 8.216786809627354,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 35.14466094970703,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1129.5604248046875,
                6481.13037109375,
                368.42144775390625
            ],
            "velocity": [
                -9.563755989074707,
                -0.8707679510116577,
                0.3463900685310364
            ],
            "speed_kmh": 34.59441752268019,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.612675666809082,
                "transform": {
                    "location": {
                        "x": -1054.7667236328125,
                        "y": 6485.09423828125,
                        "z": 365.54730224609375
                    },
                    "rotation": {
                        "roll": -0.0063476539216935635,
                        "pitch": 2.357999801635742,
                        "yaw": -179.22384643554688
                    }
                },
                "velocity": {
                    "x": -9.603363037109375,
                    "y": -0.15050604939460754,
                    "z": 0.39536651968955994
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -878.3129272460938,
                        "y": 6486.46435546875,
                        "z": 361.759765625
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -976.4476318359375,
                        "y": 6485.71875,
                        "z": 363.5422668457031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.6095609664917,
                "transform": {
                    "location": {
                        "x": -1129.5604248046875,
                        "y": 6481.13037109375,
                        "z": 368.42144775390625
                    },
                    "rotation": {
                        "roll": -0.01611328311264515,
                        "pitch": 2.0821080207824707,
                        "yaw": -174.83859252929688
                    }
                },
                "velocity": {
                    "x": -9.563755989074707,
                    "y": -0.8707679510116577,
                    "z": 0.3463900685310364
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.917534828186035,
                "transform": {
                    "location": {
                        "x": -1076.5584716796875,
                        "y": 6484.51416015625,
                        "z": 366.4643249511719
                    },
                    "rotation": {
                        "roll": -0.005615235306322575,
                        "pitch": 2.1838436126708984,
                        "yaw": -177.8906707763672
                    }
                },
                "velocity": {
                    "x": -7.906160831451416,
                    "y": -0.29700106382369995,
                    "z": 0.30293694138526917
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -995.8946533203125,
                        "y": 6485.57275390625,
                        "z": 363.8466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.604869842529297,
                "transform": {
                    "location": {
                        "x": -1033.288818359375,
                        "y": 6485.2900390625,
                        "z": 364.7322082519531
                    },
                    "rotation": {
                        "roll": 0.0007097554043866694,
                        "pitch": 1.888314962387085,
                        "yaw": -179.57020568847656
                    }
                },
                "velocity": {
                    "x": -9.599309921264648,
                    "y": -0.07205836474895477,
                    "z": 0.3187025189399719
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -956.843505859375,
                        "y": 6485.86865234375,
                        "z": 363.23541259765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -939.7389526367188,
                        "y": 6485.99755859375,
                        "z": 362.9676208496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -919.4118041992188,
                        "y": 6486.15185546875,
                        "z": 362.6091613769531
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -898.1315307617188,
                        "y": 6486.314453125,
                        "z": 362.1851806640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -861.5082397460938,
                        "y": 6486.59033203125,
                        "z": 361.3670959472656
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -833.8011474609375,
                        "y": 6486.8017578125,
                        "z": 360.95623779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1228.0882568359375,
                        "y": 6470.8466796875,
                        "z": 371.48431396484375
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1194.9361572265625,
                        "y": 6474.34814453125,
                        "z": 370.58709716796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.633131980895996,
                "transform": {
                    "location": {
                        "x": -1151.220458984375,
                        "y": 6478.9609375,
                        "z": 369.194091796875
                    },
                    "rotation": {
                        "roll": -0.006957996170967817,
                        "pitch": 2.008915662765503,
                        "yaw": -173.98992919921875
                    }
                },
                "velocity": {
                    "x": -9.57461929321289,
                    "y": -1.0061745643615723,
                    "z": 0.333922803401947
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1015.2974853515625,
                        "y": 6485.4248046875,
                        "z": 364.21392822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.024201983585953712,
        "expert_target_speed": 9.334030142301538,
        "target_point": [
            39.240546788788365,
            0.7863778701098894
        ],
        "target_point_next": [
            91.08800397488592,
            3.303108353581715
        ]
    },
    "900": {
        "acceleration": [
            0.3624534606933594,
            -0.0910574197769165,
            -0.011432766914367676
        ],
        "angular_velocity": [
            -0.09372352808713913,
            0.00432050134986639,
            -1.8662586212158203
        ],
        "forward_vector": [
            -0.9975589513778687,
            -0.05863025784492493,
            0.03792949393391609
        ],
        "right_vector": [
            0.05870087817311287,
            -0.9982753396034241,
            0.0007499383646063507
        ],
        "location": [
            -1096.5762939453125,
            6483.61279296875,
            367.1847229003906
        ],
        "rotation": [
            -0.04299924895167351,
            2.1737213134765625,
            -176.63638305664062
        ],
        "velocity": [
            -8.114398956298828,
            -0.4912424385547638,
            0.3087696433067322
        ],
        "speed": 8.129255166091218,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 35.50308609008789,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1131.95166015625,
                6480.91064453125,
                368.50799560546875
            ],
            "velocity": [
                -9.566743850708008,
                -0.8884874582290649,
                0.34492620825767517
            ],
            "speed_kmh": 34.61076995056484,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.540337562561035,
                "transform": {
                    "location": {
                        "x": -1057.158203125,
                        "y": 6485.0556640625,
                        "z": 365.6457214355469
                    },
                    "rotation": {
                        "roll": -0.006164549849927425,
                        "pitch": 2.36028790473938,
                        "yaw": -179.07029724121094
                    }
                },
                "velocity": {
                    "x": -9.530729293823242,
                    "y": -0.16998961567878723,
                    "z": 0.39285337924957275
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -880.7681274414062,
                        "y": 6486.4453125,
                        "z": 361.8149108886719
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -978.9274291992188,
                        "y": 6485.701171875,
                        "z": 363.58111572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.614103317260742,
                "transform": {
                    "location": {
                        "x": -1131.95166015625,
                        "y": 6480.91064453125,
                        "z": 368.50799560546875
                    },
                    "rotation": {
                        "roll": -0.011230465024709702,
                        "pitch": 2.077914237976074,
                        "yaw": -174.69985961914062
                    }
                },
                "velocity": {
                    "x": -9.566743850708008,
                    "y": -0.8884874582290649,
                    "z": 0.34492620825767517
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.870419979095459,
                "transform": {
                    "location": {
                        "x": -1078.52197265625,
                        "y": 6484.4404296875,
                        "z": 366.5389099121094
                    },
                    "rotation": {
                        "roll": -0.006042485125362873,
                        "pitch": 2.179636240005493,
                        "yaw": -177.8501434326172
                    }
                },
                "velocity": {
                    "x": -7.859177112579346,
                    "y": -0.29666244983673096,
                    "z": 0.29805585741996765
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -998.3306274414062,
                        "y": 6485.5546875,
                        "z": 363.88482666015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.55706787109375,
                "transform": {
                    "location": {
                        "x": -1035.6827392578125,
                        "y": 6485.27197265625,
                        "z": 364.8136291503906
                    },
                    "rotation": {
                        "roll": 0.00041124242125079036,
                        "pitch": 1.9629621505737305,
                        "yaw": -179.5673370361328
                    }
                },
                "velocity": {
                    "x": -9.550802230834961,
                    "y": -0.07211436331272125,
                    "z": 0.33839142322540283
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -959.321044921875,
                        "y": 6485.84912109375,
                        "z": 363.2742004394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -942.216552734375,
                        "y": 6485.97900390625,
                        "z": 363.00640869140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -921.8670043945312,
                        "y": 6486.1337890625,
                        "z": 362.6578674316406
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -900.586669921875,
                        "y": 6486.294921875,
                        "z": 362.23443603515625
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -863.9854736328125,
                        "y": 6486.572265625,
                        "z": 361.4249267578125
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -836.3005981445312,
                        "y": 6486.7822265625,
                        "z": 360.95843505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1230.5736083984375,
                        "y": 6470.58447265625,
                        "z": 371.5462341308594
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1197.4215087890625,
                        "y": 6474.0859375,
                        "z": 370.65924072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.633124351501465,
                "transform": {
                    "location": {
                        "x": -1153.6141357421875,
                        "y": 6478.7099609375,
                        "z": 369.2767028808594
                    },
                    "rotation": {
                        "roll": -0.00329591054469347,
                        "pitch": 1.9987181425094604,
                        "yaw": -174.01393127441406
                    }
                },
                "velocity": {
                    "x": -9.574799537658691,
                    "y": -1.0059846639633179,
                    "z": 0.3290754556655884
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1017.693115234375,
                        "y": 6485.40673828125,
                        "z": 364.27197265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02144119329750538,
        "expert_target_speed": 9.250071116479353,
        "target_point": [
            37.199815931833044,
            0.6676621075842251
        ],
        "target_point_next": [
            89.05466375513652,
            3.027218466880176
        ]
    },
    "905": {
        "acceleration": [
            4.370937347412109,
            0.1588726043701172,
            -0.1732724905014038
        ],
        "angular_velocity": [
            0.2232537865638733,
            -1.190685510635376,
            3.5819196701049805
        ],
        "forward_vector": [
            -0.9973582625389099,
            -0.0627908930182457,
            0.036520816385746
        ],
        "right_vector": [
            0.06285593658685684,
            -0.9980224370956421,
            0.0006344740395434201
        ],
        "location": [
            -1098.5736083984375,
            6483.4892578125,
            367.2608947753906
        ],
        "rotation": [
            -0.036376953125,
            2.092954158782959,
            -176.39756774902344
        ],
        "velocity": [
            -7.657925128936768,
            -0.4912766218185425,
            0.2910599708557129
        ],
        "speed": 7.6736673109763265,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 35.90345001220703,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1134.342529296875,
                6480.68505859375,
                368.594482421875
            ],
            "velocity": [
                -9.559575080871582,
                -0.918563723564148,
                0.34492599964141846
            ],
            "speed_kmh": 34.595271186426864,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.463323593139648,
                "transform": {
                    "location": {
                        "x": -1059.5447998046875,
                        "y": 6485.01171875,
                        "z": 365.7439880371094
                    },
                    "rotation": {
                        "roll": -0.008880616165697575,
                        "pitch": 2.3609981536865234,
                        "yaw": -178.9383544921875
                    }
                },
                "velocity": {
                    "x": -9.453286170959473,
                    "y": -0.19409598410129547,
                    "z": 0.39013639092445374
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -883.2673950195312,
                        "y": 6486.4267578125,
                        "z": 361.8702697753906
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -981.382568359375,
                        "y": 6485.68212890625,
                        "z": 363.6195373535156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.609797477722168,
                "transform": {
                    "location": {
                        "x": -1134.342529296875,
                        "y": 6480.68505859375,
                        "z": 368.594482421875
                    },
                    "rotation": {
                        "roll": -0.016021735966205597,
                        "pitch": 2.0768213272094727,
                        "yaw": -174.5498046875
                    }
                },
                "velocity": {
                    "x": -9.559575080871582,
                    "y": -0.918563723564148,
                    "z": 0.34492599964141846
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.522252082824707,
                "transform": {
                    "location": {
                        "x": -1080.5775146484375,
                        "y": 6484.357421875,
                        "z": 366.6164855957031
                    },
                    "rotation": {
                        "roll": -0.011779780499637127,
                        "pitch": 2.228273868560791,
                        "yaw": -177.66748046875
                    }
                },
                "velocity": {
                    "x": -8.50857925415039,
                    "y": -0.35899412631988525,
                    "z": 0.32246634364128113
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1000.7656860351562,
                        "y": 6485.53564453125,
                        "z": 363.9242858886719
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.601715087890625,
                "transform": {
                    "location": {
                        "x": -1038.0770263671875,
                        "y": 6485.25341796875,
                        "z": 364.8981018066406
                    },
                    "rotation": {
                        "roll": -0.0009765626164153218,
                        "pitch": 2.0762271881103516,
                        "yaw": -179.57215881347656
                    }
                },
                "velocity": {
                    "x": -9.595145225524902,
                    "y": -0.07135603576898575,
                    "z": 0.3479084074497223
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -961.7984008789062,
                        "y": 6485.8310546875,
                        "z": 363.3129577636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -944.6939697265625,
                        "y": 6485.9599609375,
                        "z": 363.0451965332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -924.3663330078125,
                        "y": 6486.11474609375,
                        "z": 362.70721435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -903.0859375,
                        "y": 6486.27587890625,
                        "z": 362.2845153808594
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -866.46240234375,
                        "y": 6486.5537109375,
                        "z": 361.4840393066406
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -838.8002319335938,
                        "y": 6486.76416015625,
                        "z": 360.98065185546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1233.0589599609375,
                        "y": 6470.3212890625,
                        "z": 371.607421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1199.9068603515625,
                        "y": 6473.822265625,
                        "z": 370.73004150390625
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.633833885192871,
                "transform": {
                    "location": {
                        "x": -1156.0076904296875,
                        "y": 6478.4580078125,
                        "z": 369.3585510253906
                    },
                    "rotation": {
                        "roll": -0.0032653873786330223,
                        "pitch": 1.9841835498809814,
                        "yaw": -173.97637939453125
                    }
                },
                "velocity": {
                    "x": -9.57518196105957,
                    "y": -1.0101613998413086,
                    "z": 0.32590988278388977
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1020.1058349609375,
                        "y": 6485.38916015625,
                        "z": 364.3347473144531
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.009025353007018566,
        "expert_target_speed": 8.80739730801016,
        "target_point": [
            35.20114568132591,
            0.5148126987128658
        ],
        "target_point_next": [
            87.06537776271426,
            2.658216440088383
        ]
    },
    "910": {
        "acceleration": [
            2.0311641693115234,
            0.09780645370483398,
            -0.07353901863098145
        ],
        "angular_velocity": [
            -0.13510102033615112,
            -0.019972659647464752,
            -2.652285575866699
        ],
        "forward_vector": [
            -0.9973019957542419,
            -0.06494541466236115,
            0.0342177078127861
        ],
        "right_vector": [
            0.06499610096216202,
            -0.9978854656219482,
            0.00036996224662289023
        ],
        "location": [
            -1100.39111328125,
            6483.37109375,
            367.3302917480469
        ],
        "rotation": [
            -0.02120969630777836,
            1.960913062095642,
            -176.2740936279297
        ],
        "velocity": [
            -6.993318557739258,
            -0.46307823061943054,
            0.26566433906555176
        ],
        "speed": 7.008633668390289,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 36.48347854614258,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1136.7325439453125,
                6480.4521484375,
                368.68096923828125
            ],
            "velocity": [
                -9.562142372131348,
                -0.935818612575531,
                0.3465896546840668
            ],
            "speed_kmh": 34.61067177932774,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.860636711120605,
                "transform": {
                    "location": {
                        "x": -1061.8037109375,
                        "y": 6484.96337890625,
                        "z": 365.8370361328125
                    },
                    "rotation": {
                        "roll": -0.005920409224927425,
                        "pitch": 2.3357059955596924,
                        "yaw": -178.83761596679688
                    }
                },
                "velocity": {
                    "x": -8.850998878479004,
                    "y": -0.20107482373714447,
                    "z": 0.36092743277549744
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -885.7222290039062,
                        "y": 6486.408203125,
                        "z": 361.92401123046875
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -983.8621826171875,
                        "y": 6485.66357421875,
                        "z": 363.6583251953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.614075660705566,
                "transform": {
                    "location": {
                        "x": -1136.7325439453125,
                        "y": 6480.4521484375,
                        "z": 368.68096923828125
                    },
                    "rotation": {
                        "roll": -0.007812489289790392,
                        "pitch": 2.0805506706237793,
                        "yaw": -174.41334533691406
                    }
                },
                "velocity": {
                    "x": -9.562142372131348,
                    "y": -0.935818612575531,
                    "z": 0.3465896546840668
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.5139594078063965,
                "transform": {
                    "location": {
                        "x": -1082.595947265625,
                        "y": 6484.2724609375,
                        "z": 366.69390869140625
                    },
                    "rotation": {
                        "roll": -0.004730226472020149,
                        "pitch": 2.1160335540771484,
                        "yaw": -177.5722198486328
                    }
                },
                "velocity": {
                    "x": -7.501769065856934,
                    "y": -0.3205295205116272,
                    "z": 0.2833901643753052
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1003.200927734375,
                        "y": 6485.517578125,
                        "z": 363.96417236328125
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.393916130065918,
                "transform": {
                    "location": {
                        "x": -1040.4588623046875,
                        "y": 6485.236328125,
                        "z": 364.98492431640625
                    },
                    "rotation": {
                        "roll": 0.002020138083025813,
                        "pitch": 2.089409351348877,
                        "yaw": -179.57315063476562
                    }
                },
                "velocity": {
                    "x": -9.387032508850098,
                    "y": -0.07006429880857468,
                    "z": 0.35267677903175354
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -964.2757568359375,
                        "y": 6485.8115234375,
                        "z": 363.35174560546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -947.1712036132812,
                        "y": 6485.94091796875,
                        "z": 363.08392333984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -926.8212280273438,
                        "y": 6486.0966796875,
                        "z": 362.7538146972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -905.5407104492188,
                        "y": 6486.25732421875,
                        "z": 362.3332214355469
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -868.9391479492188,
                        "y": 6486.53466796875,
                        "z": 361.5430908203125
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -841.2998046875,
                        "y": 6486.744140625,
                        "z": 361.0093994140625
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.5443115234375,
                        "y": 6470.05908203125,
                        "z": 371.6678466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1202.3922119140625,
                        "y": 6473.56005859375,
                        "z": 370.8006896972656
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.634383201599121,
                "transform": {
                    "location": {
                        "x": -1158.401123046875,
                        "y": 6478.20556640625,
                        "z": 369.4397277832031
                    },
                    "rotation": {
                        "roll": -0.0014648438664153218,
                        "pitch": 1.9508726596832275,
                        "yaw": -173.98782348632812
                    }
                },
                "velocity": {
                    "x": -9.575820922851562,
                    "y": -1.0105828046798706,
                    "z": 0.32204803824424744
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1022.4942626953125,
                        "y": 6485.37060546875,
                        "z": 364.3987731933594
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0026717435102909803,
        "expert_target_speed": 8.15788387133786,
        "target_point": [
            33.380831281224985,
            0.439152399790395
        ],
        "target_point_next": [
            85.24956161351882,
            2.4707927977046147
        ]
    },
    "915": {
        "acceleration": [
            1.3295936584472656,
            0.05129694938659668,
            -0.04366576671600342
        ],
        "angular_velocity": [
            0.20595911145210266,
            0.24416568875312805,
            3.4511260986328125
        ],
        "forward_vector": [
            -0.9971473217010498,
            -0.06690908223390579,
            0.03493563458323479
        ],
        "right_vector": [
            0.06695776432752609,
            -0.9977558255195618,
            0.0002241011243313551
        ],
        "location": [
            -1102.0855712890625,
            6483.2578125,
            367.3944091796875
        ],
        "rotation": [
            -0.012847891077399254,
            2.0020718574523926,
            -176.1611785888672
        ],
        "velocity": [
            -6.60111665725708,
            -0.44682762026786804,
            0.25079867243766785
        ],
        "speed": 6.61622218829984,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 37.18674087524414,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1139.1221923828125,
                6480.21533203125,
                368.767578125
            ],
            "velocity": [
                -9.555105209350586,
                -0.9619601368904114,
                0.34601646661758423
            ],
            "speed_kmh": 34.5946945093343,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.227620124816895,
                "transform": {
                    "location": {
                        "x": -1064.0556640625,
                        "y": 6484.9111328125,
                        "z": 365.9289855957031
                    },
                    "rotation": {
                        "roll": -0.011383055709302425,
                        "pitch": 2.338164806365967,
                        "yaw": -178.73733520507812
                    }
                },
                "velocity": {
                    "x": -9.217070579528809,
                    "y": -0.2300269454717636,
                    "z": 0.37639936804771423
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -888.2215576171875,
                        "y": 6486.38916015625,
                        "z": 361.9779968261719
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -986.302001953125,
                        "y": 6485.64501953125,
                        "z": 363.6965637207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.609637260437012,
                "transform": {
                    "location": {
                        "x": -1139.1221923828125,
                        "y": 6480.21533203125,
                        "z": 368.767578125
                    },
                    "rotation": {
                        "roll": -0.014923095703125,
                        "pitch": 2.078399181365967,
                        "yaw": -174.2841033935547
                    }
                },
                "velocity": {
                    "x": -9.555105209350586,
                    "y": -0.9619601368904114,
                    "z": 0.34601646661758423
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.202142715454102,
                "transform": {
                    "location": {
                        "x": -1084.328125,
                        "y": 6484.1962890625,
                        "z": 366.76007080078125
                    },
                    "rotation": {
                        "roll": -0.010772698558866978,
                        "pitch": 2.047854423522949,
                        "yaw": -177.45816040039062
                    }
                },
                "velocity": {
                    "x": -6.190958023071289,
                    "y": -0.289093941450119,
                    "z": 0.23459477722644806
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1005.6143798828125,
                        "y": 6485.49853515625,
                        "z": 364.0089416503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.584159851074219,
                "transform": {
                    "location": {
                        "x": -1042.82080078125,
                        "y": 6485.2177734375,
                        "z": 365.0747985839844
                    },
                    "rotation": {
                        "roll": 0.0008918989915400743,
                        "pitch": 2.217236280441284,
                        "yaw": -179.55697631835938
                    }
                },
                "velocity": {
                    "x": -9.576726913452148,
                    "y": -0.07422320544719696,
                    "z": 0.370013564825058
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -966.7156982421875,
                        "y": 6485.79345703125,
                        "z": 363.3899230957031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -949.6404418945312,
                        "y": 6485.923828125,
                        "z": 363.1226501464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -929.3204956054688,
                        "y": 6486.07666015625,
                        "z": 362.79974365234375
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -908.0399780273438,
                        "y": 6486.2392578125,
                        "z": 362.3830261230469
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -871.416259765625,
                        "y": 6486.515625,
                        "z": 361.6010437011719
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -843.7994384765625,
                        "y": 6486.7255859375,
                        "z": 361.0406494140625
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1238.0296630859375,
                        "y": 6469.7958984375,
                        "z": 371.72760009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1204.8775634765625,
                        "y": 6473.2978515625,
                        "z": 370.8700256347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.633750915527344,
                "transform": {
                    "location": {
                        "x": -1160.794921875,
                        "y": 6477.953125,
                        "z": 369.5199890136719
                    },
                    "rotation": {
                        "roll": -0.0013122718082740903,
                        "pitch": 1.9528261423110962,
                        "yaw": -173.9617919921875
                    }
                },
                "velocity": {
                    "x": -9.575020790100098,
                    "y": -1.0122356414794922,
                    "z": 0.3217363655567169
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1024.8814697265625,
                        "y": 6485.353515625,
                        "z": 364.46612548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.005805722437798977,
        "expert_target_speed": 7.773539928018853,
        "target_point": [
            31.68339153791838,
            0.3737822694178199
        ],
        "target_point_next": [
            83.55602503231981,
            2.3031975554971638
        ]
    },
    "920": {
        "acceleration": [
            0.9757804870605469,
            0.04148602485656738,
            -0.06446361541748047
        ],
        "angular_velocity": [
            -0.13018958270549774,
            0.16718149185180664,
            -2.890427827835083
        ],
        "forward_vector": [
            -0.9970661997795105,
            -0.06765180081129074,
            0.0358097217977047
        ],
        "right_vector": [
            0.0676998570561409,
            -0.9977057576179504,
            0.00012987898662686348
        ],
        "location": [
            -1103.6983642578125,
            6483.14794921875,
            367.45538330078125
        ],
        "rotation": [
            -0.007446293253451586,
            2.052184820175171,
            -176.11837768554688
        ],
        "velocity": [
            -6.322060585021973,
            -0.43631038069725037,
            0.23931783437728882
        ],
        "speed": 6.337098451893622,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 37.971885681152344,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1141.5113525390625,
                6479.97216796875,
                368.8540954589844
            ],
            "velocity": [
                -9.55795669555664,
                -0.9762136340141296,
                0.34511786699295044
            ],
            "speed_kmh": 34.60995806581591,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.592272758483887,
                "transform": {
                    "location": {
                        "x": -1066.3140869140625,
                        "y": 6484.85302734375,
                        "z": 366.0206298828125
                    },
                    "rotation": {
                        "roll": -0.008697508834302425,
                        "pitch": 2.3022379875183105,
                        "yaw": -178.60719299316406
                    }
                },
                "velocity": {
                    "x": -8.582189559936523,
                    "y": -0.23406097292900085,
                    "z": 0.3440723419189453
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -890.6611328125,
                        "y": 6486.36962890625,
                        "z": 362.0299377441406
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -988.7493286132812,
                        "y": 6485.6259765625,
                        "z": 363.7348327636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.613877296447754,
                "transform": {
                    "location": {
                        "x": -1141.5113525390625,
                        "y": 6479.97216796875,
                        "z": 368.8540954589844
                    },
                    "rotation": {
                        "roll": -0.011749275028705597,
                        "pitch": 2.079826593399048,
                        "yaw": -174.17059326171875
                    }
                },
                "velocity": {
                    "x": -9.55795669555664,
                    "y": -0.9762136340141296,
                    "z": 0.34511786699295044
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.861795425415039,
                "transform": {
                    "location": {
                        "x": -1085.803955078125,
                        "y": 6484.1279296875,
                        "z": 366.81549072265625
                    },
                    "rotation": {
                        "roll": -0.003601072821766138,
                        "pitch": 2.109435558319092,
                        "yaw": -177.34426879882812
                    }
                },
                "velocity": {
                    "x": -5.851048469543457,
                    "y": -0.27726295590400696,
                    "z": 0.221371129155159
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1008.029052734375,
                        "y": 6485.48046875,
                        "z": 364.0543518066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.245077133178711,
                "transform": {
                    "location": {
                        "x": -1045.20654296875,
                        "y": 6485.19775390625,
                        "z": 365.1679992675781
                    },
                    "rotation": {
                        "roll": 0.004492143634706736,
                        "pitch": 2.265368700027466,
                        "yaw": -179.50721740722656
                    }
                },
                "velocity": {
                    "x": -9.237441062927246,
                    "y": -0.08777958899736404,
                    "z": 0.3652695417404175
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -969.2152099609375,
                        "y": 6485.775390625,
                        "z": 363.4290466308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -952.1106567382812,
                        "y": 6485.90478515625,
                        "z": 363.16131591796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -931.7603149414062,
                        "y": 6486.05810546875,
                        "z": 362.8408508300781
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -910.4796142578125,
                        "y": 6486.2197265625,
                        "z": 362.4314880371094
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -873.8560180664062,
                        "y": 6486.498046875,
                        "z": 361.6579895019531
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -846.299072265625,
                        "y": 6486.7060546875,
                        "z": 361.0767517089844
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1240.5150146484375,
                        "y": 6469.53369140625,
                        "z": 371.7868957519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.3629150390625,
                        "y": 6473.03564453125,
                        "z": 370.9392395019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.63477611541748,
                "transform": {
                    "location": {
                        "x": -1163.1885986328125,
                        "y": 6477.70068359375,
                        "z": 369.59954833984375
                    },
                    "rotation": {
                        "roll": 3.4243454138049856e-05,
                        "pitch": 1.9158269166946411,
                        "yaw": -173.9880828857422
                    }
                },
                "velocity": {
                    "x": -9.57647705078125,
                    "y": -1.0092566013336182,
                    "z": 0.3184323310852051
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1027.2767333984375,
                        "y": 6485.3349609375,
                        "z": 364.5370178222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.008084511384367943,
        "expert_target_speed": 7.4998132777776325,
        "target_point": [
            30.06713146750118,
            0.34967548783388747
        ],
        "target_point_next": [
            81.94119214765728,
            2.2403308086519313
        ]
    },
    "925": {
        "acceleration": [
            0.6070804595947266,
            0.011233687400817871,
            -0.04403531551361084
        ],
        "angular_velocity": [
            0.14796622097492218,
            0.16586332023143768,
            3.5351903438568115
        ],
        "forward_vector": [
            -0.9969152212142944,
            -0.06947082281112671,
            0.036522604525089264
        ],
        "right_vector": [
            0.06952007114887238,
            -0.9975805878639221,
            7.877696043578908e-05
        ],
        "location": [
            -1105.252197265625,
            6483.0400390625,
            367.51416015625
        ],
        "rotation": [
            -0.004516600631177425,
            2.0930566787719727,
            -176.0137481689453
        ],
        "velocity": [
            -6.129591941833496,
            -0.43072158098220825,
            0.23198319971561432
        ],
        "speed": 6.144706539267269,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 38.81572341918945,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1143.9000244140625,
                6479.7275390625,
                368.9400634765625
            ],
            "velocity": [
                -9.5538330078125,
                -0.9876920580863953,
                0.3413201868534088
            ],
            "speed_kmh": 34.59893311009687,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.3373637199401855,
                "transform": {
                    "location": {
                        "x": -1068.3262939453125,
                        "y": 6484.79736328125,
                        "z": 366.10186767578125
                    },
                    "rotation": {
                        "roll": -0.007537842728197575,
                        "pitch": 2.2410669326782227,
                        "yaw": -178.47901916503906
                    }
                },
                "velocity": {
                    "x": -7.328474998474121,
                    "y": -0.21154019236564636,
                    "z": 0.2925936281681061
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -893.160400390625,
                        "y": 6486.35107421875,
                        "z": 362.0824890136719
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -991.2088012695312,
                        "y": 6485.60791015625,
                        "z": 363.7733154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.610815048217773,
                "transform": {
                    "location": {
                        "x": -1143.9000244140625,
                        "y": 6479.7275390625,
                        "z": 368.9400634765625
                    },
                    "rotation": {
                        "roll": -0.011718752793967724,
                        "pitch": 2.049165964126587,
                        "yaw": -174.11862182617188
                    }
                },
                "velocity": {
                    "x": -9.5538330078125,
                    "y": -0.9876920580863953,
                    "z": 0.3413201868534088
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.840953826904297,
                "transform": {
                    "location": {
                        "x": -1087.3197021484375,
                        "y": 6484.05615234375,
                        "z": 366.8718566894531
                    },
                    "rotation": {
                        "roll": -0.003417974105104804,
                        "pitch": 2.2362310886383057,
                        "yaw": -177.3009033203125
                    }
                },
                "velocity": {
                    "x": -6.828367233276367,
                    "y": -0.32453659176826477,
                    "z": 0.2583140432834625
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1010.4483642578125,
                        "y": 6485.4619140625,
                        "z": 364.1046142578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.953751564025879,
                "transform": {
                    "location": {
                        "x": -1047.4443359375,
                        "y": 6485.1767578125,
                        "z": 365.25732421875
                    },
                    "rotation": {
                        "roll": 0.004980039317160845,
                        "pitch": 2.322284698486328,
                        "yaw": -179.4542999267578
                    }
                },
                "velocity": {
                    "x": -8.945871353149414,
                    "y": -0.0885629653930664,
                    "z": 0.36496832966804504
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -971.6748046875,
                        "y": 6485.75634765625,
                        "z": 363.467529296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -954.6102294921875,
                        "y": 6485.884765625,
                        "z": 363.20037841796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -934.2598266601562,
                        "y": 6486.0390625,
                        "z": 362.8817443847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -912.9788818359375,
                        "y": 6486.20166015625,
                        "z": 362.4812316894531
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -876.3552856445312,
                        "y": 6486.478515625,
                        "z": 361.7152404785156
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -848.7986450195312,
                        "y": 6486.6875,
                        "z": 361.1149597167969
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1243.00048828125,
                        "y": 6469.27099609375,
                        "z": 371.84600830078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.8482666015625,
                        "y": 6472.7734375,
                        "z": 371.0070495605469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.634811401367188,
                "transform": {
                    "location": {
                        "x": -1165.5826416015625,
                        "y": 6477.44775390625,
                        "z": 369.6781921386719
                    },
                    "rotation": {
                        "roll": 0.00036543706664815545,
                        "pitch": 1.9053289890289307,
                        "yaw": -173.97312927246094
                    }
                },
                "velocity": {
                    "x": -9.57651424407959,
                    "y": -1.0105217695236206,
                    "z": 0.31431999802589417
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1029.5946044921875,
                        "y": 6485.31591796875,
                        "z": 364.60858154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.017580723389983177,
        "expert_target_speed": 7.311150553957775,
        "target_point": [
            28.510144418978175,
            0.29513292566812943
        ],
        "target_point_next": [
            80.3875714668391,
            2.0910482590069055
        ]
    },
    "930": {
        "acceleration": [
            0.1880168914794922,
            -0.04317522048950195,
            -0.03506392240524292
        ],
        "angular_velocity": [
            -0.1326606273651123,
            0.20554541051387787,
            -2.6770520210266113
        ],
        "forward_vector": [
            -0.9968016743659973,
            -0.07067903876304626,
            0.0372953899204731
        ],
        "right_vector": [
            0.07073650509119034,
            -0.9974950551986694,
            0.0002219530288130045
        ],
        "location": [
            -1106.7703857421875,
            6482.931640625,
            367.57159423828125
        ],
        "rotation": [
            -0.012725825421512127,
            2.137364149093628,
            -175.94418334960938
        ],
        "velocity": [
            -6.034976482391357,
            -0.43958595395088196,
            0.22796986997127533
        ],
        "speed": 6.05096496056023,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 39.69533920288086,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1146.28857421875,
                6479.47900390625,
                369.02490234375
            ],
            "velocity": [
                -9.55667495727539,
                -0.996122419834137,
                0.3375717103481293
            ],
            "speed_kmh": 34.611758262622814,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.208664417266846,
                "transform": {
                    "location": {
                        "x": -1070.114013671875,
                        "y": 6484.744140625,
                        "z": 366.1723327636719
                    },
                    "rotation": {
                        "roll": -0.005096436478197575,
                        "pitch": 2.2522547245025635,
                        "yaw": -178.2899627685547
                    }
                },
                "velocity": {
                    "x": -7.199463367462158,
                    "y": -0.22938838601112366,
                    "z": 0.28275057673454285
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -895.6196899414062,
                        "y": 6486.3330078125,
                        "z": 362.1335754394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -993.6107788085938,
                        "y": 6485.58984375,
                        "z": 363.8109436035156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.61437702178955,
                "transform": {
                    "location": {
                        "x": -1146.28857421875,
                        "y": 6479.47900390625,
                        "z": 369.02490234375
                    },
                    "rotation": {
                        "roll": -0.00790403876453638,
                        "pitch": 2.0174055099487305,
                        "yaw": -174.05154418945312
                    }
                },
                "velocity": {
                    "x": -9.55667495727539,
                    "y": -0.996122419834137,
                    "z": 0.3375717103481293
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.473756790161133,
                "transform": {
                    "location": {
                        "x": -1089.3070068359375,
                        "y": 6483.9599609375,
                        "z": 366.9463195800781
                    },
                    "rotation": {
                        "roll": -0.01348876953125,
                        "pitch": 2.3384039402008057,
                        "yaw": -177.1990966796875
                    }
                },
                "velocity": {
                    "x": -8.456588745117188,
                    "y": -0.4330076575279236,
                    "z": 0.32120779156684875
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1012.7071533203125,
                        "y": 6485.44482421875,
                        "z": 364.15350341796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.48969841003418,
                "transform": {
                    "location": {
                        "x": -1049.7471923828125,
                        "y": 6485.15234375,
                        "z": 365.3515930175781
                    },
                    "rotation": {
                        "roll": 0.007040052209049463,
                        "pitch": 2.314054250717163,
                        "yaw": -179.38232421875
                    }
                },
                "velocity": {
                    "x": -9.480923652648926,
                    "y": -0.12057510763406754,
                    "z": 0.389759361743927
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -974.1744384765625,
                        "y": 6485.73681640625,
                        "z": 363.5067138671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -957.06982421875,
                        "y": 6485.8671875,
                        "z": 363.2388916015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -936.7194213867188,
                        "y": 6486.02099609375,
                        "z": 362.9203186035156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -915.4381713867188,
                        "y": 6486.181640625,
                        "z": 362.5300598144531
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -878.8145751953125,
                        "y": 6486.46044921875,
                        "z": 361.7711181640625
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -830.8027954101562,
                        "y": 6486.82421875,
                        "z": 361.04840087890625
                    },
                    "rotation": {
                        "roll": 1.0422199908655116e-10,
                        "pitch": 0.3164972960948944,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -851.298095703125,
                        "y": 6486.66845703125,
                        "z": 361.157958984375
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33550,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1245.48583984375,
                        "y": 6469.0087890625,
                        "z": 371.905029296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1212.3336181640625,
                        "y": 6472.51025390625,
                        "z": 371.07470703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.635062217712402,
                "transform": {
                    "location": {
                        "x": -1167.9765625,
                        "y": 6477.1953125,
                        "z": 369.75628662109375
                    },
                    "rotation": {
                        "roll": -0.00027465115999802947,
                        "pitch": 1.891190528869629,
                        "yaw": -173.98861694335938
                    }
                },
                "velocity": {
                    "x": -9.576925277709961,
                    "y": -1.0103315114974976,
                    "z": 0.3100992441177368
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1031.8819580078125,
                        "y": 6485.298828125,
                        "z": 364.68212890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.023112790659070015,
        "expert_target_speed": 7.219655964207841,
        "target_point": [
            26.988428518696686,
            0.2597726029782981
        ],
        "target_point_next": [
            78.8679976263599,
            1.9927060101960183
        ]
    },
    "935": {
        "acceleration": [
            -0.24550437927246094,
            -0.09428322315216064,
            0.01901298761367798
        ],
        "angular_velocity": [
            0.09724321216344833,
            0.20841173827648163,
            3.8294925689697266
        ],
        "forward_vector": [
            -0.9965434670448303,
            -0.07375827431678772,
            0.038220033049583435
        ],
        "right_vector": [
            0.0738210529088974,
            -0.9972714781761169,
            0.00023205799516290426
        ],
        "location": [
            -1108.2806396484375,
            6482.81982421875,
            367.628662109375
        ],
        "rotation": [
            -0.01330566592514515,
            2.190380096435547,
            -175.76702880859375
        ],
        "velocity": [
            -6.057445526123047,
            -0.4595409333705902,
            0.2295348048210144
        ],
        "speed": 6.074851781845482,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 40.58277130126953,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1148.6771240234375,
                6479.22900390625,
                369.10894775390625
            ],
            "velocity": [
                -9.55208969116211,
                -1.0019758939743042,
                0.33563727140426636
            ],
            "speed_kmh": 34.59729716283261,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.905299663543701,
                "transform": {
                    "location": {
                        "x": -1072.010498046875,
                        "y": 6484.68408203125,
                        "z": 366.2469177246094
                    },
                    "rotation": {
                        "roll": -0.001831052708439529,
                        "pitch": 2.2560386657714844,
                        "yaw": -178.101806640625
                    }
                },
                "velocity": {
                    "x": -7.8947906494140625,
                    "y": -0.2647962272167206,
                    "z": 0.3097090721130371
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -898.1189575195312,
                        "y": 6486.314453125,
                        "z": 362.1849060058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -996.0146484375,
                        "y": 6485.5712890625,
                        "z": 363.8485412597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.610360145568848,
                "transform": {
                    "location": {
                        "x": -1148.6771240234375,
                        "y": 6479.22900390625,
                        "z": 369.10894775390625
                    },
                    "rotation": {
                        "roll": -0.00482177734375,
                        "pitch": 2.0208685398101807,
                        "yaw": -174.01834106445312
                    }
                },
                "velocity": {
                    "x": -9.55208969116211,
                    "y": -1.0019758939743042,
                    "z": 0.33563727140426636
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.457465648651123,
                "transform": {
                    "location": {
                        "x": -1091.310546875,
                        "y": 6483.857421875,
                        "z": 367.0240173339844
                    },
                    "rotation": {
                        "roll": -0.006530760321766138,
                        "pitch": 2.133730411529541,
                        "yaw": -177.06271362304688
                    }
                },
                "velocity": {
                    "x": -7.442008018493652,
                    "y": -0.38896575570106506,
                    "z": 0.281100869178772
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1015.1075439453125,
                        "y": 6485.42626953125,
                        "z": 364.2095947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.851231575012207,
                "transform": {
                    "location": {
                        "x": -1052.0487060546875,
                        "y": 6485.12353515625,
                        "z": 365.4458923339844
                    },
                    "rotation": {
                        "roll": 0.0026940356474369764,
                        "pitch": 2.39553165435791,
                        "yaw": -179.26687622070312
                    }
                },
                "velocity": {
                    "x": -8.842945098876953,
                    "y": -0.11899510771036148,
                    "z": 0.3639492690563202
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -976.6119995117188,
                        "y": 6485.7177734375,
                        "z": 363.54486083984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -959.5314331054688,
                        "y": 6485.84814453125,
                        "z": 363.2774963378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -939.1810913085938,
                        "y": 6486.0029296875,
                        "z": 362.9588928222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -917.8995361328125,
                        "y": 6486.16357421875,
                        "z": 362.5791015625
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -881.3139038085938,
                        "y": 6486.4404296875,
                        "z": 361.8269348144531
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -833.3014526367188,
                        "y": 6486.8056640625,
                        "z": 360.9715881347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -853.7973022460938,
                        "y": 6486.650390625,
                        "z": 361.2030334472656
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1214.8189697265625,
                        "y": 6472.248046875,
                        "z": 371.1410217285156
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.635539054870605,
                "transform": {
                    "location": {
                        "x": -1170.3704833984375,
                        "y": 6476.9423828125,
                        "z": 369.8336486816406
                    },
                    "rotation": {
                        "roll": -0.0011291559785604477,
                        "pitch": 1.8586856126785278,
                        "yaw": -173.9625244140625
                    }
                },
                "velocity": {
                    "x": -9.577462196350098,
                    "y": -1.0110560655593872,
                    "z": 0.305919349193573
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1034.2022705078125,
                        "y": 6485.2822265625,
                        "z": 364.7585754394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.037219785153865814,
        "expert_target_speed": 7.244276188204009,
        "target_point": [
            25.474715101661037,
            0.1762919129431293
        ],
        "target_point_next": [
            77.35939413927959,
            1.7488154116423882
        ]
    },
    "940": {
        "acceleration": [
            -0.531158447265625,
            -0.13947010040283203,
            0.0019478797912597656
        ],
        "angular_velocity": [
            -0.10059448331594467,
            0.16734109818935394,
            -2.2606732845306396
        ],
        "forward_vector": [
            -0.9963034391403198,
            -0.07653047889471054,
            0.03902040049433708
        ],
        "right_vector": [
            0.07660061120986938,
            -0.9970617890357971,
            0.0003033689863514155
        ],
        "location": [
            -1109.8076171875,
            6482.70166015625,
            367.6865539550781
        ],
        "rotation": [
            -0.017395010218024254,
            2.236272096633911,
            -175.60748291015625
        ],
        "velocity": [
            -6.162837505340576,
            -0.4920053780078888,
            0.23305322229862213
        ],
        "speed": 6.1824457465651195,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 41.45281219482422,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1151.0654296875,
                6478.978515625,
                369.192138671875
            ],
            "velocity": [
                -9.556632041931152,
                -1.0048190355300903,
                0.33419302105903625
            ],
            "speed_kmh": 34.61443754875153,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.113146781921387,
                "transform": {
                    "location": {
                        "x": -1074.109619140625,
                        "y": 6484.61279296875,
                        "z": 366.32818603515625
                    },
                    "rotation": {
                        "roll": -0.0019226031145080924,
                        "pitch": 2.260211944580078,
                        "yaw": -177.99464416503906
                    }
                },
                "velocity": {
                    "x": -9.10064697265625,
                    "y": -0.32377463579177856,
                    "z": 0.35049179196357727
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -900.5223999023438,
                        "y": 6486.29541015625,
                        "z": 362.233154296875
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -998.3614501953125,
                        "y": 6485.55419921875,
                        "z": 363.88531494140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.615121841430664,
                "transform": {
                    "location": {
                        "x": -1151.0654296875,
                        "y": 6478.978515625,
                        "z": 369.192138671875
                    },
                    "rotation": {
                        "roll": -0.004302975255995989,
                        "pitch": 1.9807411432266235,
                        "yaw": -174.00108337402344
                    }
                },
                "velocity": {
                    "x": -9.556632041931152,
                    "y": -1.0048190355300903,
                    "z": 0.33419302105903625
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.651714324951172,
                "transform": {
                    "location": {
                        "x": -1092.982421875,
                        "y": 6483.77001953125,
                        "z": 367.08837890625
                    },
                    "rotation": {
                        "roll": -0.005859381053596735,
                        "pitch": 2.016476631164551,
                        "yaw": -177.0146026611328
                    }
                },
                "velocity": {
                    "x": -5.639822483062744,
                    "y": -0.298133909702301,
                    "z": 0.21305175125598907
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1017.3116455078125,
                        "y": 6485.40966796875,
                        "z": 364.2628479003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.005864143371582,
                "transform": {
                    "location": {
                        "x": -1054.2562255859375,
                        "y": 6485.09375,
                        "z": 365.5372314453125
                    },
                    "rotation": {
                        "roll": 0.004631352610886097,
                        "pitch": 2.3406851291656494,
                        "yaw": -179.20677185058594
                    }
                },
                "velocity": {
                    "x": -8.997061729431152,
                    "y": -0.14685949683189392,
                    "z": 0.3699912130832672
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -979.0779418945312,
                        "y": 6485.69970703125,
                        "z": 363.58349609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -961.9732666015625,
                        "y": 6485.830078125,
                        "z": 363.3156433105469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -941.6228637695312,
                        "y": 6485.9833984375,
                        "z": 362.99713134765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -920.3409423828125,
                        "y": 6486.14501953125,
                        "z": 362.6275939941406
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -883.7511596679688,
                        "y": 6486.4228515625,
                        "z": 361.8809814453125
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -835.8006591796875,
                        "y": 6486.7861328125,
                        "z": 360.9539794921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -856.2965698242188,
                        "y": 6486.63037109375,
                        "z": 361.2529296875
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1217.3043212890625,
                        "y": 6471.9853515625,
                        "z": 371.2073059082031
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.635812759399414,
                "transform": {
                    "location": {
                        "x": -1172.7650146484375,
                        "y": 6476.689453125,
                        "z": 369.91009521484375
                    },
                    "rotation": {
                        "roll": -0.0016784628387540579,
                        "pitch": 1.859997034072876,
                        "yaw": -173.9786834716797
                    }
                },
                "velocity": {
                    "x": -9.577608108520508,
                    "y": -1.0122252702713013,
                    "z": 0.3061327338218689
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1036.4071044921875,
                        "y": 6485.2646484375,
                        "z": 364.8354187011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05242786556482315,
        "expert_target_speed": 7.351481324845786,
        "target_point": [
            23.943564761925348,
            0.10448369935398816
        ],
        "target_point_next": [
            75.83242167034471,
            1.5325165169861386
        ]
    },
    "945": {
        "acceleration": [
            -0.6211185455322266,
            -0.14681339263916016,
            0.03331303596496582
        ],
        "angular_velocity": [
            0.1164853498339653,
            0.07534611970186234,
            3.978137493133545
        ],
        "forward_vector": [
            -0.995943009853363,
            -0.08084803819656372,
            0.03951199725270271
        ],
        "right_vector": [
            0.08092193305492401,
            -0.9967203736305237,
            0.00027196246082894504
        ],
        "location": [
            -1111.3677978515625,
            6482.57470703125,
            367.7456970214844
        ],
        "rotation": [
            -0.015594479627907276,
            2.264460325241089,
            -175.3590545654297
        ],
        "velocity": [
            -6.313309669494629,
            -0.5281318426132202,
            0.24025429785251617
        ],
        "speed": 6.335361254586546,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 42.28929901123047,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1153.4539794921875,
                6478.7275390625,
                369.2745361328125
            ],
            "velocity": [
                -9.552189826965332,
                -1.0062427520751953,
                0.32901427149772644
            ],
            "speed_kmh": 34.5984358812799,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.413884162902832,
                "transform": {
                    "location": {
                        "x": -1076.3218994140625,
                        "y": 6484.533203125,
                        "z": 366.41400146484375
                    },
                    "rotation": {
                        "roll": -0.0014038096414878964,
                        "pitch": 2.1802303791046143,
                        "yaw": -177.84925842285156
                    }
                },
                "velocity": {
                    "x": -8.401761054992676,
                    "y": -0.31597721576690674,
                    "z": 0.3225153982639313
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -903.0216064453125,
                        "y": 6486.27685546875,
                        "z": 362.2832336425781
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1000.7808227539062,
                        "y": 6485.5341796875,
                        "z": 363.9245300292969
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.610676765441895,
                "transform": {
                    "location": {
                        "x": -1153.4539794921875,
                        "y": 6478.7275390625,
                        "z": 369.2745361328125
                    },
                    "rotation": {
                        "roll": -0.0021972761023789644,
                        "pitch": 1.9736582040786743,
                        "yaw": -173.99082946777344
                    }
                },
                "velocity": {
                    "x": -9.552189826965332,
                    "y": -1.0062427520751953,
                    "z": 0.32901427149772644
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.973336696624756,
                "transform": {
                    "location": {
                        "x": -1094.2392578125,
                        "y": 6483.701171875,
                        "z": 367.13519287109375
                    },
                    "rotation": {
                        "roll": -0.010253895074129105,
                        "pitch": 2.07096791267395,
                        "yaw": -176.93130493164062
                    }
                },
                "velocity": {
                    "x": -4.96171760559082,
                    "y": -0.2828938961029053,
                    "z": 0.18817205727100372
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1019.6748046875,
                        "y": 6485.3916015625,
                        "z": 364.3230895996094
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.820039749145508,
                "transform": {
                    "location": {
                        "x": -1056.5211181640625,
                        "y": 6485.0556640625,
                        "z": 365.6302795410156
                    },
                    "rotation": {
                        "roll": 0.00041985567077063024,
                        "pitch": 2.359679937362671,
                        "yaw": -179.040283203125
                    }
                },
                "velocity": {
                    "x": -8.81119155883789,
                    "y": -0.15650315582752228,
                    "z": 0.36264821887016296
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -981.5374755859375,
                        "y": 6485.681640625,
                        "z": 363.6219787597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -964.4328002929688,
                        "y": 6485.810546875,
                        "z": 363.3541259765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -944.0824584960938,
                        "y": 6485.96533203125,
                        "z": 363.0356140136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -922.8401489257812,
                        "y": 6486.126953125,
                        "z": 362.67730712890625
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -886.216796875,
                        "y": 6486.40380859375,
                        "z": 361.93463134765625
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -838.30029296875,
                        "y": 6486.767578125,
                        "z": 360.9762268066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -858.7958984375,
                        "y": 6486.6123046875,
                        "z": 361.3049011230469
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1219.7896728515625,
                        "y": 6471.72314453125,
                        "z": 371.2721252441406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.635839462280273,
                "transform": {
                    "location": {
                        "x": -1175.1591796875,
                        "y": 6476.43603515625,
                        "z": 369.98583984375
                    },
                    "rotation": {
                        "roll": 0.002231013495475054,
                        "pitch": 1.8238447904586792,
                        "yaw": -173.95550537109375
                    }
                },
                "velocity": {
                    "x": -9.577884674072266,
                    "y": -1.0110805034637451,
                    "z": 0.30206379294395447
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1038.7291259765625,
                        "y": 6485.248046875,
                        "z": 364.9170227050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0747787356376648,
        "expert_target_speed": 7.503346400133535,
        "target_point": [
            22.37845547045409,
            0.00037667442201372303
        ],
        "target_point_next": [
            74.27301581434547,
            1.2034376474693858
        ]
    },
    "950": {
        "acceleration": [
            -0.6737136840820312,
            -0.16280174255371094,
            0.004531741142272949
        ],
        "angular_velocity": [
            -0.09097769111394882,
            0.024798640981316566,
            -2.135150671005249
        ],
        "forward_vector": [
            -0.995657742023468,
            -0.08419544994831085,
            0.03970889747142792
        ],
        "right_vector": [
            0.08427032083272934,
            -0.9964429140090942,
            0.0002123527228832245
        ],
        "location": [
            -1112.9674072265625,
            6482.4384765625,
            367.8064880371094
        ],
        "rotation": [
            -0.012176518328487873,
            2.2757506370544434,
            -175.16641235351562
        ],
        "velocity": [
            -6.477422714233398,
            -0.5673738718032837,
            0.2445428967475891
        ],
        "speed": 6.502224090976242,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 43.085758209228516,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1155.842529296875,
                6478.4755859375,
                369.3563232421875
            ],
            "velocity": [
                -9.557414054870605,
                -1.0079121589660645,
                0.32589584589004517
            ],
            "speed_kmh": 34.61737583016403,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.346683025360107,
                "transform": {
                    "location": {
                        "x": -1078.2802734375,
                        "y": 6484.45947265625,
                        "z": 366.48883056640625
                    },
                    "rotation": {
                        "roll": 5.289764885674231e-06,
                        "pitch": 2.144692897796631,
                        "yaw": -177.74986267089844
                    }
                },
                "velocity": {
                    "x": -7.33591365814209,
                    "y": -0.28471800684928894,
                    "z": 0.277595579624176
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -905.4407348632812,
                        "y": 6486.2578125,
                        "z": 362.3313293457031
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1003.1267700195312,
                        "y": 6485.517578125,
                        "z": 363.96295166015625
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.615937232971191,
                "transform": {
                    "location": {
                        "x": -1155.842529296875,
                        "y": 6478.4755859375,
                        "z": 369.3563232421875
                    },
                    "rotation": {
                        "roll": -0.0013122616801410913,
                        "pitch": 1.9570403099060059,
                        "yaw": -173.97341918945312
                    }
                },
                "velocity": {
                    "x": -9.557414054870605,
                    "y": -1.0079121589660645,
                    "z": 0.32589584589004517
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.227790355682373,
                "transform": {
                    "location": {
                        "x": -1095.534912109375,
                        "y": 6483.6279296875,
                        "z": 367.1838684082031
                    },
                    "rotation": {
                        "roll": -0.002502440009266138,
                        "pitch": 2.1756131649017334,
                        "yaw": -176.82972717285156
                    }
                },
                "velocity": {
                    "x": -5.215492248535156,
                    "y": -0.2991185784339905,
                    "z": 0.19738776981830597
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1021.9102783203125,
                        "y": 6485.37548828125,
                        "z": 364.3830871582031
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.458807945251465,
                "transform": {
                    "location": {
                        "x": -1058.6478271484375,
                        "y": 6485.017578125,
                        "z": 365.7176818847656
                    },
                    "rotation": {
                        "roll": -0.00152587890625,
                        "pitch": 2.381359100341797,
                        "yaw": -178.9813690185547
                    }
                },
                "velocity": {
                    "x": -8.450264930725098,
                    "y": -0.15331697463989258,
                    "z": 0.3477745056152344
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -983.953857421875,
                        "y": 6485.66357421875,
                        "z": 363.6597900390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -966.84912109375,
                        "y": 6485.79248046875,
                        "z": 363.3919372558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -946.4987182617188,
                        "y": 6485.947265625,
                        "z": 363.07342529296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -925.21630859375,
                        "y": 6486.10791015625,
                        "z": 362.7232666015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -888.6759033203125,
                        "y": 6486.38525390625,
                        "z": 361.9877624511719
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -840.7999267578125,
                        "y": 6486.74853515625,
                        "z": 361.0031433105469
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -861.295166015625,
                        "y": 6486.59228515625,
                        "z": 361.36151123046875
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1222.2750244140625,
                        "y": 6471.46044921875,
                        "z": 371.33685302734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.636455535888672,
                "transform": {
                    "location": {
                        "x": -1177.5535888671875,
                        "y": 6476.18359375,
                        "z": 370.0607604980469
                    },
                    "rotation": {
                        "roll": 0.0005597348790615797,
                        "pitch": 1.8114138841629028,
                        "yaw": -173.98880004882812
                    }
                },
                "velocity": {
                    "x": -9.578792572021484,
                    "y": -1.0094202756881714,
                    "z": 0.2984742820262909
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1040.88720703125,
                        "y": 6485.23095703125,
                        "z": 364.9979248046875
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0951918438076973,
        "expert_target_speed": 7.668695329794657,
        "target_point": [
            20.772930585464994,
            -0.07583390621092301
        ],
        "target_point_next": [
            72.67124300412496,
            0.952717057922623
        ]
    },
    "955": {
        "acceleration": [
            -0.5429267883300781,
            -0.15006661415100098,
            0.0017938017845153809
        ],
        "angular_velocity": [
            0.09044899046421051,
            -0.09472672641277313,
            3.9441077709198
        ],
        "forward_vector": [
            -0.9952748417854309,
            -0.08870347589254379,
            0.03949258103966713
        ],
        "right_vector": [
            0.08877833187580109,
            -0.9960514307022095,
            0.00014210178051143885
        ],
        "location": [
            -1114.607421875,
            6482.29248046875,
            367.8683776855469
        ],
        "rotation": [
            -0.008148188702762127,
            2.2633469104766846,
            -174.90699768066406
        ],
        "velocity": [
            -6.629951477050781,
            -0.6067355871200562,
            0.24868176877498627
        ],
        "speed": 6.657656093605748,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 43.84108352661133,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1158.2310791015625,
                6478.2236328125,
                369.4373474121094
            ],
            "velocity": [
                -9.553081512451172,
                -1.0084116458892822,
                0.32147902250289917
            ],
            "speed_kmh": 34.60152677471648,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.008079528808594,
                "transform": {
                    "location": {
                        "x": -1079.7713623046875,
                        "y": 6484.400390625,
                        "z": 366.5458068847656
                    },
                    "rotation": {
                        "roll": -0.0015563960187137127,
                        "pitch": 2.0751137733459473,
                        "yaw": -177.6267852783203
                    }
                },
                "velocity": {
                    "x": -4.001823425292969,
                    "y": -0.16684763133525848,
                    "z": 0.1492455005645752
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -907.8970336914062,
                        "y": 6486.24072265625,
                        "z": 362.3802185058594
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1005.5094604492188,
                        "y": 6485.4990234375,
                        "z": 364.0070495605469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.61153507232666,
                "transform": {
                    "location": {
                        "x": -1158.2310791015625,
                        "y": 6478.2236328125,
                        "z": 369.4373474121094
                    },
                    "rotation": {
                        "roll": -0.00036621562321670353,
                        "pitch": 1.9260449409484863,
                        "yaw": -173.9740447998047
                    }
                },
                "velocity": {
                    "x": -9.553081512451172,
                    "y": -1.0084116458892822,
                    "z": 0.32147902250289917
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.703302383422852,
                "transform": {
                    "location": {
                        "x": -1096.89306640625,
                        "y": 6483.55029296875,
                        "z": 367.2350158691406
                    },
                    "rotation": {
                        "roll": -0.00460816128179431,
                        "pitch": 2.2053587436676025,
                        "yaw": -176.7674102783203
                    }
                },
                "velocity": {
                    "x": -5.68979549407959,
                    "y": -0.3272989094257355,
                    "z": 0.21625418961048126
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1024.21533203125,
                        "y": 6485.35791015625,
                        "z": 364.4468994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.938918113708496,
                "transform": {
                    "location": {
                        "x": -1060.8341064453125,
                        "y": 6484.9716796875,
                        "z": 365.8082275390625
                    },
                    "rotation": {
                        "roll": 0.003216020530089736,
                        "pitch": 2.3115134239196777,
                        "yaw": -178.80157470703125
                    }
                },
                "velocity": {
                    "x": -8.929133415222168,
                    "y": -0.1999504417181015,
                    "z": 0.36721816658973694
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -986.336669921875,
                        "y": 6485.64404296875,
                        "z": 363.6970520019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -969.23193359375,
                        "y": 6485.775390625,
                        "z": 363.4293212890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -948.9583129882812,
                        "y": 6485.92822265625,
                        "z": 363.11187744140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -927.7155151367188,
                        "y": 6486.08935546875,
                        "z": 362.7708435058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -891.0921020507812,
                        "y": 6486.3671875,
                        "z": 362.0389709472656
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -843.2994995117188,
                        "y": 6486.72900390625,
                        "z": 361.0343933105469
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -863.7944946289062,
                        "y": 6486.57373046875,
                        "z": 361.4203186035156
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1224.7603759765625,
                        "y": 6471.19775390625,
                        "z": 371.4001770019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.636856079101562,
                "transform": {
                    "location": {
                        "x": -1179.947998046875,
                        "y": 6475.9306640625,
                        "z": 370.1349792480469
                    },
                    "rotation": {
                        "roll": 0.0010663880966603756,
                        "pitch": 1.7981905937194824,
                        "yaw": -173.96983337402344
                    }
                },
                "velocity": {
                    "x": -9.579245567321777,
                    "y": -1.0100104808807373,
                    "z": 0.294822096824646
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1043.0594482421875,
                        "y": 6485.21484375,
                        "z": 365.0794372558594
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.12458054721355438,
        "expert_target_speed": 7.822570698043061,
        "target_point": [
            19.125874061228295,
            -0.16972412723286423
        ],
        "target_point_next": [
            71.02831174993231,
            0.6238191676482883
        ]
    },
    "960": {
        "acceleration": [
            -0.41004180908203125,
            -0.15538692474365234,
            -0.004704594612121582
        ],
        "angular_velocity": [
            -0.04260404780507088,
            -0.06722165644168854,
            -2.0602846145629883
        ],
        "forward_vector": [
            -0.9949690103530884,
            -0.09223426133394241,
            0.03911033645272255
        ],
        "right_vector": [
            0.09230975806713104,
            -0.9957303404808044,
            0.00012507266364991665
        ],
        "location": [
            -1116.27978515625,
            6482.13623046875,
            367.9315185546875
        ],
        "rotation": [
            -0.0071716224774718285,
            2.241428852081299,
            -174.7037811279297
        ],
        "velocity": [
            -6.741549491882324,
            -0.6447561383247375,
            0.2519952058792114
        ],
        "speed": 6.77231127676558,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 44.56346130371094,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1160.619873046875,
                6477.9716796875,
                369.5174865722656
            ],
            "velocity": [
                -9.557175636291504,
                -1.0095328092575073,
                0.3215065598487854
            ],
            "speed_kmh": 34.616602854508486,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.07848596572876,
                "transform": {
                    "location": {
                        "x": -1080.7364501953125,
                        "y": 6484.359375,
                        "z": 366.5817565917969
                    },
                    "rotation": {
                        "roll": 0.0015762249240651727,
                        "pitch": 2.139993667602539,
                        "yaw": -177.54933166503906
                    }
                },
                "velocity": {
                    "x": -4.071672439575195,
                    "y": -0.1776210218667984,
                    "z": 0.15485647320747375
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -910.2796020507812,
                        "y": 6486.2216796875,
                        "z": 362.4275817871094
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1007.8206787109375,
                        "y": 6485.482421875,
                        "z": 364.0504150390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.61572265625,
                "transform": {
                    "location": {
                        "x": -1160.619873046875,
                        "y": 6477.9716796875,
                        "z": 369.5174865722656
                    },
                    "rotation": {
                        "roll": 5.3557942010229453e-05,
                        "pitch": 1.9286130666732788,
                        "yaw": -173.97531127929688
                    }
                },
                "velocity": {
                    "x": -9.557175636291504,
                    "y": -1.0095328092575073,
                    "z": 0.3215065598487854
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.077207565307617,
                "transform": {
                    "location": {
                        "x": -1098.6822509765625,
                        "y": 6483.447265625,
                        "z": 367.301513671875
                    },
                    "rotation": {
                        "roll": -0.013214110396802425,
                        "pitch": 2.369249105453491,
                        "yaw": -176.7260284423828
                    }
                },
                "velocity": {
                    "x": -8.056703567504883,
                    "y": -0.4873258173465729,
                    "z": 0.305499404668808
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1026.489013671875,
                        "y": 6485.33984375,
                        "z": 364.5139465332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.957688331604004,
                "transform": {
                    "location": {
                        "x": -1062.946044921875,
                        "y": 6484.9248046875,
                        "z": 365.8939514160156
                    },
                    "rotation": {
                        "roll": -0.002410889370366931,
                        "pitch": 2.3957159519195557,
                        "yaw": -178.7239990234375
                    }
                },
                "velocity": {
                    "x": -7.949025630950928,
                    "y": -0.18042847514152527,
                    "z": 0.3244135081768036
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -988.7410888671875,
                        "y": 6485.6259765625,
                        "z": 363.7347106933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -971.63623046875,
                        "y": 6485.75634765625,
                        "z": 363.46697998046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -951.2858276367188,
                        "y": 6485.91064453125,
                        "z": 363.1483459472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -930.0581665039062,
                        "y": 6486.0712890625,
                        "z": 362.8119201660156
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -893.4747314453125,
                        "y": 6486.34912109375,
                        "z": 362.0890808105469
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -845.7989501953125,
                        "y": 6486.7099609375,
                        "z": 361.069091796875
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -866.2935180664062,
                        "y": 6486.5546875,
                        "z": 361.47998046875
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1227.2457275390625,
                        "y": 6470.93505859375,
                        "z": 371.46343994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.636898040771484,
                "transform": {
                    "location": {
                        "x": -1182.3426513671875,
                        "y": 6475.67822265625,
                        "z": 370.20855712890625
                    },
                    "rotation": {
                        "roll": -0.0016479574842378497,
                        "pitch": 1.7645450830459595,
                        "yaw": -173.98715209960938
                    }
                },
                "velocity": {
                    "x": -9.579307556152344,
                    "y": -1.010807752609253,
                    "z": 0.2914446294307709
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1045.298583984375,
                        "y": 6485.197265625,
                        "z": 365.1676940917969
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1539464145898819,
        "expert_target_speed": 7.936175052756428,
        "target_point": [
            17.445505667818956,
            -0.23876368986054386
        ],
        "target_point_next": [
            69.35043108688,
            0.37071660708509135
        ]
    },
    "965": {
        "acceleration": [
            -0.37899017333984375,
            -0.14696717262268066,
            -0.02162933349609375
        ],
        "angular_velocity": [
            0.13007421791553497,
            -0.05236215516924858,
            3.925541400909424
        ],
        "forward_vector": [
            -0.9945337772369385,
            -0.09686519205570221,
            0.03898383304476738
        ],
        "right_vector": [
            0.09693943709135056,
            -0.9952902793884277,
            1.4369956261361949e-05
        ],
        "location": [
            -1117.9776611328125,
            6481.97119140625,
            367.9952392578125
        ],
        "rotation": [
            -0.0008239641902036965,
            2.234175205230713,
            -174.43707275390625
        ],
        "velocity": [
            -6.8361711502075195,
            -0.6820369362831116,
            0.2552047073841095
        ],
        "speed": 6.8701099246943675,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 45.25924301147461,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1163.00830078125,
                6477.7197265625,
                369.5969543457031
            ],
            "velocity": [
                -9.553657531738281,
                -1.0087069272994995,
                0.31769242882728577
            ],
            "speed_kmh": 34.60324613821938,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.924373149871826,
                "transform": {
                    "location": {
                        "x": -1081.859375,
                        "y": 6484.310546875,
                        "z": 366.6238098144531
                    },
                    "rotation": {
                        "roll": 0.0010790845844894648,
                        "pitch": 2.195133924484253,
                        "yaw": -177.51895141601562
                    }
                },
                "velocity": {
                    "x": -4.9161224365234375,
                    "y": -0.21564927697181702,
                    "z": 0.18623678386211395
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -912.683837890625,
                        "y": 6486.2041015625,
                        "z": 362.4753723144531
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1010.2029418945312,
                        "y": 6485.462890625,
                        "z": 364.0997314453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.61201286315918,
                "transform": {
                    "location": {
                        "x": -1163.00830078125,
                        "y": 6477.7197265625,
                        "z": 369.5969543457031
                    },
                    "rotation": {
                        "roll": -0.0005493219359777868,
                        "pitch": 1.889858603477478,
                        "yaw": -173.9726104736328
                    }
                },
                "velocity": {
                    "x": -9.553657531738281,
                    "y": -1.0087069272994995,
                    "z": 0.31769242882728577
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.884307384490967,
                "transform": {
                    "location": {
                        "x": -1100.724609375,
                        "y": 6483.32373046875,
                        "z": 367.3803405761719
                    },
                    "rotation": {
                        "roll": -0.007110591512173414,
                        "pitch": 2.2125985622406006,
                        "yaw": -176.49749755859375
                    }
                },
                "velocity": {
                    "x": -7.863424301147461,
                    "y": -0.489761084318161,
                    "z": 0.29832586646080017
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1028.78173828125,
                        "y": 6485.322265625,
                        "z": 364.5823059082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.094752311706543,
                "transform": {
                    "location": {
                        "x": -1064.6175537109375,
                        "y": 6484.884765625,
                        "z": 365.9615478515625
                    },
                    "rotation": {
                        "roll": 0.0017307124799117446,
                        "pitch": 2.472179889678955,
                        "yaw": -178.62425231933594
                    }
                },
                "velocity": {
                    "x": -6.087490081787109,
                    "y": -0.16356369853019714,
                    "z": 0.24842087924480438
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -991.1605224609375,
                        "y": 6485.60791015625,
                        "z": 363.7726135253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -974.095703125,
                        "y": 6485.7373046875,
                        "z": 363.5054931640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -953.7854614257812,
                        "y": 6485.8916015625,
                        "z": 363.18756103515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -932.5026245117188,
                        "y": 6486.05322265625,
                        "z": 362.8531799316406
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -895.8790283203125,
                        "y": 6486.3310546875,
                        "z": 362.13885498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -848.2984008789062,
                        "y": 6486.69091796875,
                        "z": 361.1073303222656
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -868.79248046875,
                        "y": 6486.53662109375,
                        "z": 361.53961181640625
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1229.7310791015625,
                        "y": 6470.6728515625,
                        "z": 371.5252990722656
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.636994361877441,
                "transform": {
                    "location": {
                        "x": -1184.7376708984375,
                        "y": 6475.4248046875,
                        "z": 370.2811584472656
                    },
                    "rotation": {
                        "roll": -0.0010376075515523553,
                        "pitch": 1.7658360004425049,
                        "yaw": -173.95672607421875
                    }
                },
                "velocity": {
                    "x": -9.57929515838623,
                    "y": -1.0120117664337158,
                    "z": 0.29086506366729736
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1047.0302734375,
                        "y": 6485.18359375,
                        "z": 365.2374572753906
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.18637388944625854,
        "expert_target_speed": 8.033076332378162,
        "target_point": [
            15.738326844598948,
            -0.31964695381057706
        ],
        "target_point_next": [
            67.64552715350581,
            0.04819143688983285
        ]
    },
    "970": {
        "acceleration": [
            -0.3108406066894531,
            -0.15358567237854004,
            0.008919239044189453
        ],
        "angular_velocity": [
            -0.10312475264072418,
            -0.18432097136974335,
            -2.009935140609741
        ],
        "forward_vector": [
            -0.9941993951797485,
            -0.10050936043262482,
            0.0382804274559021
        ],
        "right_vector": [
            0.10058251768350601,
            -0.9949287176132202,
            -1.4780437595618423e-05
        ],
        "location": [
            -1119.6971435546875,
            6481.796875,
            368.05914306640625
        ],
        "rotation": [
            0.0008474778733216226,
            2.193842887878418,
            -174.2272491455078
        ],
        "velocity": [
            -6.9179205894470215,
            -0.719497799873352,
            0.2564567029476166
        ],
        "speed": 6.955235608224758,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 45.93315124511719,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1165.397216796875,
                6477.46728515625,
                369.6755065917969
            ],
            "velocity": [
                -9.557801246643066,
                -1.0107492208480835,
                0.3137910068035126
            ],
            "speed_kmh": 34.61838383229796,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.2925124168396,
                "transform": {
                    "location": {
                        "x": -1083.156005859375,
                        "y": 6484.25439453125,
                        "z": 366.67327880859375
                    },
                    "rotation": {
                        "roll": -0.0017089868197217584,
                        "pitch": 2.1852164268493652,
                        "yaw": -177.5028076171875
                    }
                },
                "velocity": {
                    "x": -5.283647537231445,
                    "y": -0.23194140195846558,
                    "z": 0.19989806413650513
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -915.0662231445312,
                        "y": 6486.18408203125,
                        "z": 362.5227355957031
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1012.3331298828125,
                        "y": 6485.447265625,
                        "z": 364.14556884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.616217613220215,
                "transform": {
                    "location": {
                        "x": -1165.397216796875,
                        "y": 6477.46728515625,
                        "z": 369.6755065917969
                    },
                    "rotation": {
                        "roll": -0.0004272507503628731,
                        "pitch": 1.8824273347854614,
                        "yaw": -173.9625701904297
                    }
                },
                "velocity": {
                    "x": -9.557801246643066,
                    "y": -1.0107492208480835,
                    "z": 0.3137910068035126
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.899269104003906,
                "transform": {
                    "location": {
                        "x": -1102.5355224609375,
                        "y": 6483.21044921875,
                        "z": 367.449951171875
                    },
                    "rotation": {
                        "roll": -0.007141100708395243,
                        "pitch": 2.1025028228759766,
                        "yaw": -176.4595184326172
                    }
                },
                "velocity": {
                    "x": -6.8810577392578125,
                    "y": -0.4277394413948059,
                    "z": 0.2607617974281311
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1030.740966796875,
                        "y": 6485.30712890625,
                        "z": 364.6453857421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.370358943939209,
                "transform": {
                    "location": {
                        "x": -1066.146240234375,
                        "y": 6484.84423828125,
                        "z": 366.02447509765625
                    },
                    "rotation": {
                        "roll": 0.001390004763379693,
                        "pitch": 2.3158369064331055,
                        "yaw": -178.5101318359375
                    }
                },
                "velocity": {
                    "x": -6.362832546234131,
                    "y": -0.17488829791545868,
                    "z": 0.2554415166378021
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -993.5432739257812,
                        "y": 6485.59130859375,
                        "z": 363.8099060058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -976.4384155273438,
                        "y": 6485.7197265625,
                        "z": 363.54217529296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -956.1280517578125,
                        "y": 6485.87353515625,
                        "z": 363.22418212890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -934.8851928710938,
                        "y": 6486.03466796875,
                        "z": 362.8912658691406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -898.3382568359375,
                        "y": 6486.31298828125,
                        "z": 362.18939208984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -850.7978515625,
                        "y": 6486.67236328125,
                        "z": 361.14892578125
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -871.2915649414062,
                        "y": 6486.5166015625,
                        "z": 361.5982666015625
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1232.2164306640625,
                        "y": 6470.40966796875,
                        "z": 371.5870666503906
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.63744831085205,
                "transform": {
                    "location": {
                        "x": -1187.13232421875,
                        "y": 6475.17236328125,
                        "z": 370.35302734375
                    },
                    "rotation": {
                        "roll": 2.5024319256772287e-06,
                        "pitch": 1.7310839891433716,
                        "yaw": -173.9864044189453
                    }
                },
                "velocity": {
                    "x": -9.579950332641602,
                    "y": -1.011162281036377,
                    "z": 0.28724348545074463
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1048.7462158203125,
                        "y": 6485.17041015625,
                        "z": 365.30694580078125
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.22031114995479584,
        "expert_target_speed": 8.117392952508006,
        "target_point": [
            14.00875510365607,
            -0.37776111887559627
        ],
        "target_point_next": [
            65.91695440945857,
            -0.20001461471867188
        ]
    },
    "975": {
        "acceleration": [
            -0.37174224853515625,
            -0.20444512367248535,
            0.002359151840209961
        ],
        "angular_velocity": [
            0.19229276478290558,
            0.058130983263254166,
            4.443596363067627
        ],
        "forward_vector": [
            -0.9935569167137146,
            -0.10683752596378326,
            0.03782108798623085
        ],
        "right_vector": [
            0.10691992938518524,
            -0.9942676424980164,
            0.0001570142194395885
        ],
        "location": [
            -1121.4368896484375,
            6481.60986328125,
            368.1235046386719
        ],
        "rotation": [
            -0.009002693928778172,
            2.1675057411193848,
            -173.862548828125
        ],
        "velocity": [
            -7.00092077255249,
            -0.7791190147399902,
            0.25588154792785645
        ],
        "speed": 7.044140692993459,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 46.585636138916016,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1167.7861328125,
                6477.21533203125,
                369.7535400390625
            ],
            "velocity": [
                -9.554454803466797,
                -1.0079891681671143,
                0.3099142909049988
            ],
            "speed_kmh": 34.60491374451777,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.103265762329102,
                "transform": {
                    "location": {
                        "x": -1084.56494140625,
                        "y": 6484.1904296875,
                        "z": 366.72650146484375
                    },
                    "rotation": {
                        "roll": -0.006042479071766138,
                        "pitch": 2.1955368518829346,
                        "yaw": -177.45574951171875
                    }
                },
                "velocity": {
                    "x": -6.092282772064209,
                    "y": -0.2844371497631073,
                    "z": 0.23030580580234528
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -917.5255126953125,
                        "y": 6486.16650390625,
                        "z": 362.5716247558594
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1014.5452880859375,
                        "y": 6485.4296875,
                        "z": 364.1961975097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.612476348876953,
                "transform": {
                    "location": {
                        "x": -1167.7861328125,
                        "y": 6477.21533203125,
                        "z": 369.7535400390625
                    },
                    "rotation": {
                        "roll": 0.0006279969238676131,
                        "pitch": 1.8666086196899414,
                        "yaw": -173.97889709472656
                    }
                },
                "velocity": {
                    "x": -9.554454803466797,
                    "y": -1.0079891681671143,
                    "z": 0.3099142909049988
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.223932266235352,
                "transform": {
                    "location": {
                        "x": -1103.97900390625,
                        "y": 6483.119140625,
                        "z": 367.50531005859375
                    },
                    "rotation": {
                        "roll": -0.0054016150534152985,
                        "pitch": 2.034440040588379,
                        "yaw": -176.27317810058594
                    }
                },
                "velocity": {
                    "x": -5.208428382873535,
                    "y": -0.35038089752197266,
                    "z": 0.19742891192436218
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1032.8704833984375,
                        "y": 6485.29248046875,
                        "z": 364.71392822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.9220404624938965,
                "transform": {
                    "location": {
                        "x": -1067.7999267578125,
                        "y": 6484.79931640625,
                        "z": 366.0914306640625
                    },
                    "rotation": {
                        "roll": -0.005828860215842724,
                        "pitch": 2.2399535179138184,
                        "yaw": -178.4478759765625
                    }
                },
                "velocity": {
                    "x": -6.913910865783691,
                    "y": -0.18819093704223633,
                    "z": 0.277603417634964
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -995.962890625,
                        "y": 6485.5712890625,
                        "z": 363.8477783203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -978.8980102539062,
                        "y": 6485.701171875,
                        "z": 363.5806579589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -958.6276245117188,
                        "y": 6485.85400390625,
                        "z": 363.2633056640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -937.3448486328125,
                        "y": 6486.0166015625,
                        "z": 362.9300842285156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -900.7208251953125,
                        "y": 6486.29345703125,
                        "z": 362.2371520996094
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -853.297119140625,
                        "y": 6486.65380859375,
                        "z": 361.1940002441406
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -873.7908325195312,
                        "y": 6486.49853515625,
                        "z": 361.6565246582031
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1234.7017822265625,
                        "y": 6470.1474609375,
                        "z": 371.64739990234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.63802433013916,
                "transform": {
                    "location": {
                        "x": -1189.5272216796875,
                        "y": 6474.91943359375,
                        "z": 370.42413330078125
                    },
                    "rotation": {
                        "roll": -0.002288821851834655,
                        "pitch": 1.7180861234664917,
                        "yaw": -173.95628356933594
                    }
                },
                "velocity": {
                    "x": -9.580404281616211,
                    "y": -1.013447880744934,
                    "z": 0.28336191177368164
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1050.712158203125,
                        "y": 6485.14697265625,
                        "z": 365.38775634765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.27931827306747437,
        "expert_target_speed": 8.205264630312415,
        "target_point": [
            12.256298471165922,
            -0.466852914840694
        ],
        "target_point_next": [
            64.16457767221104,
            -0.61949424935138
        ]
    },
    "980": {
        "acceleration": [
            -0.5372428894042969,
            -0.01764655113220215,
            -0.010853409767150879
        ],
        "angular_velocity": [
            0.029257968068122864,
            -0.0008451158064417541,
            -3.038947343826294
        ],
        "forward_vector": [
            -0.9933969378471375,
            -0.10827721655368805,
            0.037928298115730286
        ],
        "right_vector": [
            0.10832906514406204,
            -0.994114875793457,
            -0.0006917429273016751
        ],
        "location": [
            -1123.201171875,
            6481.41650390625,
            368.1879577636719
        ],
        "rotation": [
            0.03966249153017998,
            2.1736528873443604,
            -173.7794952392578
        ],
        "velocity": [
            -7.116237163543701,
            -0.7749367952346802,
            0.2593073546886444
        ],
        "speed": 7.158306950977242,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 47.213069915771484,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1170.175048828125,
                6476.96337890625,
                369.8306884765625
            ],
            "velocity": [
                -9.558234214782715,
                -1.0104436874389648,
                0.30645859241485596
            ],
            "speed_kmh": 34.61896618707945,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.199484348297119,
                "transform": {
                    "location": {
                        "x": -1086.227294921875,
                        "y": 6484.11279296875,
                        "z": 366.78936767578125
                    },
                    "rotation": {
                        "roll": -0.001434322097338736,
                        "pitch": 2.2094430923461914,
                        "yaw": -177.3512420654297
                    }
                },
                "velocity": {
                    "x": -7.186161518096924,
                    "y": -0.3422105312347412,
                    "z": 0.27303728461265564
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -919.9080200195312,
                        "y": 6486.14794921875,
                        "z": 362.6190490722656
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1016.5137939453125,
                        "y": 6485.416015625,
                        "z": 364.24365234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.616379737854004,
                "transform": {
                    "location": {
                        "x": -1170.175048828125,
                        "y": 6476.96337890625,
                        "z": 369.8306884765625
                    },
                    "rotation": {
                        "roll": -0.00036620983155444264,
                        "pitch": 1.8346843719482422,
                        "yaw": -173.9694366455078
                    }
                },
                "velocity": {
                    "x": -9.558234214782715,
                    "y": -1.0104436874389648,
                    "z": 0.30645859241485596
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.288416862487793,
                "transform": {
                    "location": {
                        "x": -1105.267578125,
                        "y": 6483.033203125,
                        "z": 367.55316162109375
                    },
                    "rotation": {
                        "roll": -0.003448489122092724,
                        "pitch": 2.1431219577789307,
                        "yaw": -176.21644592285156
                    }
                },
                "velocity": {
                    "x": -5.272764205932617,
                    "y": -0.35412168502807617,
                    "z": 0.19977273046970367
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1034.7239990234375,
                        "y": 6485.27783203125,
                        "z": 364.77630615234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.779709339141846,
                "transform": {
                    "location": {
                        "x": -1069.74267578125,
                        "y": 6484.7431640625,
                        "z": 366.1691589355469
                    },
                    "rotation": {
                        "roll": 0.005039481911808252,
                        "pitch": 2.191343069076538,
                        "yaw": -178.33584594726562
                    }
                },
                "velocity": {
                    "x": -7.76981782913208,
                    "y": -0.24677824974060059,
                    "z": 0.30481597781181335
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -998.158203125,
                        "y": 6485.5546875,
                        "z": 363.8821716308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -981.130126953125,
                        "y": 6485.68408203125,
                        "z": 363.61553955078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -960.8998413085938,
                        "y": 6485.8369140625,
                        "z": 363.29888916015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -939.6170043945312,
                        "y": 6486.0,
                        "z": 362.9657287597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -903.1801147460938,
                        "y": 6486.275390625,
                        "z": 362.2864074707031
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -855.7964477539062,
                        "y": 6486.634765625,
                        "z": 361.2425231933594
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -876.2901611328125,
                        "y": 6486.47900390625,
                        "z": 361.7137451171875
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.187255859375,
                        "y": 6469.88525390625,
                        "z": 371.7076416015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.637739181518555,
                "transform": {
                    "location": {
                        "x": -1191.9222412109375,
                        "y": 6474.666015625,
                        "z": 370.49468994140625
                    },
                    "rotation": {
                        "roll": 0.00026088443701155484,
                        "pitch": 1.7132230997085571,
                        "yaw": -173.97662353515625
                    }
                },
                "velocity": {
                    "x": -9.580394744873047,
                    "y": -1.0111273527145386,
                    "z": 0.2822800874710083
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1052.62646484375,
                        "y": 6485.1259765625,
                        "z": 365.4665222167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.29940587282180786,
        "expert_target_speed": 8.318026644363476,
        "target_point": [
            10.480762797193266,
            -0.48567100757167503
        ],
        "target_point_next": [
            62.38876619439827,
            -0.7135576162358435
        ]
    },
    "985": {
        "acceleration": [
            -0.6141471862792969,
            0.1421654224395752,
            0.024942755699157715
        ],
        "angular_velocity": [
            0.22805093228816986,
            -0.04204355552792549,
            2.063758611679077
        ],
        "forward_vector": [
            -0.9935092926025391,
            -0.10727906227111816,
            0.037822041660547256
        ],
        "right_vector": [
            0.1073165014386177,
            -0.9942243695259094,
            -0.0010448179673403502
        ],
        "location": [
            -1124.9989013671875,
            6481.22314453125,
            368.25347900390625
        ],
        "rotation": [
            0.05990653857588768,
            2.167560338973999,
            -173.8370819091797
        ],
        "velocity": [
            -7.262248516082764,
            -0.7682574391365051,
            0.2645569443702698
        ],
        "speed": 7.302771597286531,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 47.80750274658203,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1172.564208984375,
                6476.71044921875,
                369.9070739746094
            ],
            "velocity": [
                -9.554404258728027,
                -1.0101820230484009,
                0.3062935471534729
            ],
            "speed_kmh": 34.6051438023179,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.886879920959473,
                "transform": {
                    "location": {
                        "x": -1088.1190185546875,
                        "y": 6484.02294921875,
                        "z": 366.86126708984375
                    },
                    "rotation": {
                        "roll": -0.004089353606104851,
                        "pitch": 2.19604229927063,
                        "yaw": -177.25177001953125
                    }
                },
                "velocity": {
                    "x": -7.87207555770874,
                    "y": -0.379776269197464,
                    "z": 0.298446387052536
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -922.2567138671875,
                        "y": 6486.13134765625,
                        "z": 362.6656799316406
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1018.6689453125,
                        "y": 6485.39990234375,
                        "z": 364.2963562011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.612540245056152,
                "transform": {
                    "location": {
                        "x": -1172.564208984375,
                        "y": 6476.71044921875,
                        "z": 369.9070739746094
                    },
                    "rotation": {
                        "roll": 0.0008028662414290011,
                        "pitch": 1.8366719484329224,
                        "yaw": -173.9644775390625
                    }
                },
                "velocity": {
                    "x": -9.554404258728027,
                    "y": -1.0101820230484009,
                    "z": 0.3062935471534729
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.6238298416137695,
                "transform": {
                    "location": {
                        "x": -1106.67529296875,
                        "y": 6482.939453125,
                        "z": 367.6053771972656
                    },
                    "rotation": {
                        "roll": 0.0004747652856167406,
                        "pitch": 2.27435040473938,
                        "yaw": -176.08070373535156
                    }
                },
                "velocity": {
                    "x": -6.604109287261963,
                    "y": -0.44509357213974,
                    "z": 0.2505106031894684
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1036.629638671875,
                        "y": 6485.263671875,
                        "z": 364.84295654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.113816261291504,
                "transform": {
                    "location": {
                        "x": -1071.5848388671875,
                        "y": 6484.68408203125,
                        "z": 366.2406921386719
                    },
                    "rotation": {
                        "roll": -0.0020751953125,
                        "pitch": 2.2845957279205322,
                        "yaw": -178.20669555664062
                    }
                },
                "velocity": {
                    "x": -7.104620933532715,
                    "y": -0.23069703578948975,
                    "z": 0.27842921018600464
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1000.4302978515625,
                        "y": 6485.53662109375,
                        "z": 363.9189453125
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -983.325439453125,
                        "y": 6485.66796875,
                        "z": 363.64996337890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -963.3594360351562,
                        "y": 6485.81982421875,
                        "z": 363.33740234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -942.0765991210938,
                        "y": 6485.98095703125,
                        "z": 363.0042419433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -905.4520263671875,
                        "y": 6486.25732421875,
                        "z": 362.3316345214844
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -858.2957763671875,
                        "y": 6486.61572265625,
                        "z": 361.2945251464844
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -878.7893676757812,
                        "y": 6486.4609375,
                        "z": 361.77056884765625
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -832.302001953125,
                        "y": 6486.8125,
                        "z": 361.0023498535156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1239.672607421875,
                        "y": 6469.623046875,
                        "z": 371.7668151855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.638459205627441,
                "transform": {
                    "location": {
                        "x": -1194.317138671875,
                        "y": 6474.41357421875,
                        "z": 370.5647277832031
                    },
                    "rotation": {
                        "roll": 0.0007632304914295673,
                        "pitch": 1.6859228610992432,
                        "yaw": -173.96139526367188
                    }
                },
                "velocity": {
                    "x": -9.581170082092285,
                    "y": -1.0116020441055298,
                    "z": 0.2788010537624359
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1054.4888916015625,
                        "y": 6485.10009765625,
                        "z": 365.5431213378906
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3295688331127167,
        "expert_target_speed": 8.46044371428042,
        "target_point": [
            8.673147622626576,
            -0.47438110073033696
        ],
        "target_point_next": [
            60.58135386199744,
            -0.6500910935983919
        ]
    },
    "990": {
        "acceleration": [
            -0.5907726287841797,
            0.09462952613830566,
            0.01791238784790039
        ],
        "angular_velocity": [
            -0.028586581349372864,
            0.036849603056907654,
            -4.020224094390869
        ],
        "forward_vector": [
            -0.9940656423568726,
            -0.10198600590229034,
            0.037846941500902176
        ],
        "right_vector": [
            0.10200964659452438,
            -0.994782567024231,
            -0.0013111731968820095
        ],
        "location": [
            -1126.834228515625,
            6481.03369140625,
            368.3200988769531
        ],
        "rotation": [
            0.07517857104539871,
            2.168987989425659,
            -174.14224243164062
        ],
        "velocity": [
            -7.413697242736816,
            -0.7420731782913208,
            0.2684066891670227
        ],
        "speed": 7.450743547385245,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 48.36454772949219,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1174.953125,
                6476.4580078125,
                369.98272705078125
            ],
            "velocity": [
                -9.559063911437988,
                -1.0101475715637207,
                0.30209869146347046
            ],
            "speed_kmh": 34.62132645059751,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.452238082885742,
                "transform": {
                    "location": {
                        "x": -1090.2467041015625,
                        "y": 6483.91845703125,
                        "z": 366.9419860839844
                    },
                    "rotation": {
                        "roll": -0.0026855506002902985,
                        "pitch": 2.189232587814331,
                        "yaw": -177.11097717285156
                    }
                },
                "velocity": {
                    "x": -8.435158729553223,
                    "y": -0.431919664144516,
                    "z": 0.3191772699356079
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -924.7559814453125,
                        "y": 6486.111328125,
                        "z": 362.7145080566406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1020.934326171875,
                        "y": 6485.38232421875,
                        "z": 364.35699462890625
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.617034912109375,
                "transform": {
                    "location": {
                        "x": -1174.953125,
                        "y": 6476.4580078125,
                        "z": 369.98272705078125
                    },
                    "rotation": {
                        "roll": 0.00159751798491925,
                        "pitch": 1.7996113300323486,
                        "yaw": -173.96800231933594
                    }
                },
                "velocity": {
                    "x": -9.559063911437988,
                    "y": -1.0101475715637207,
                    "z": 0.30209869146347046
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.39603328704834,
                "transform": {
                    "location": {
                        "x": -1108.586669921875,
                        "y": 6482.80908203125,
                        "z": 367.6771545410156
                    },
                    "rotation": {
                        "roll": -0.009765628725290298,
                        "pitch": 2.360970973968506,
                        "yaw": -176.0819091796875
                    }
                },
                "velocity": {
                    "x": -8.369170188903809,
                    "y": -0.590965747833252,
                    "z": 0.31800806522369385
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1038.757080078125,
                        "y": 6485.248046875,
                        "z": 364.9178771972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.354722023010254,
                "transform": {
                    "location": {
                        "x": -1073.37158203125,
                        "y": 6484.626953125,
                        "z": 366.3111572265625
                    },
                    "rotation": {
                        "roll": -0.0029296884313225746,
                        "pitch": 2.208186388015747,
                        "yaw": -178.16188049316406
                    }
                },
                "velocity": {
                    "x": -7.345387935638428,
                    "y": -0.23823145031929016,
                    "z": 0.2836442291736603
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1002.772705078125,
                        "y": 6485.52001953125,
                        "z": 363.9571838378906
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -985.7079467773438,
                        "y": 6485.6484375,
                        "z": 363.687255859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -965.7420654296875,
                        "y": 6485.80029296875,
                        "z": 363.3746337890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -944.5360717773438,
                        "y": 6485.9619140625,
                        "z": 363.0427551269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -907.9512939453125,
                        "y": 6486.23974609375,
                        "z": 362.38128662109375
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -860.7950439453125,
                        "y": 6486.59619140625,
                        "z": 361.34979248046875
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -881.2886352539062,
                        "y": 6486.44091796875,
                        "z": 361.82635498046875
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -834.8008422851562,
                        "y": 6486.79345703125,
                        "z": 360.945068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1242.157958984375,
                        "y": 6469.3603515625,
                        "z": 371.8260498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1196.748046875,
                        "y": 6474.15673828125,
                        "z": 370.6383056640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.640317678451538,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1056.27001953125,
                        "y": 6485.0703125,
                        "z": 365.6164855957031
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3277958631515503,
        "expert_target_speed": 8.606114062753806,
        "target_point": [
            58.73887798395681,
            -0.3285633627403328
        ],
        "target_point_next": [
            101.18863457300887,
            -0.20226517360441498
        ]
    },
    "995": {
        "acceleration": [
            -0.5582046508789062,
            -0.01240849494934082,
            0.017406344413757324
        ],
        "angular_velocity": [
            -0.054037146270275116,
            -0.009992626495659351,
            2.088439464569092
        ],
        "forward_vector": [
            -0.9944645166397095,
            -0.09799882769584656,
            0.0379016175866127
        ],
        "right_vector": [
            0.09803026914596558,
            -0.9951828718185425,
            -0.0010325214825570583
        ],
        "location": [
            -1128.7059326171875,
            6480.84912109375,
            368.3879089355469
        ],
        "rotation": [
            0.059201668947935104,
            2.1721229553222656,
            -174.3719940185547
        ],
        "velocity": [
            -7.553693771362305,
            -0.7315983176231384,
            0.2729986310005188
        ],
        "speed": 7.589039839786499,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 48.88591766357422,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1177.3421630859375,
                6476.20556640625,
                370.0574951171875
            ],
            "velocity": [
                -9.554896354675293,
                -1.0081372261047363,
                0.2983414828777313
            ],
            "speed_kmh": 34.605231523820756,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.12855052947998,
                "transform": {
                    "location": {
                        "x": -1092.3006591796875,
                        "y": 6483.8125,
                        "z": 367.02001953125
                    },
                    "rotation": {
                        "roll": -0.003021240234375,
                        "pitch": 2.1583192348480225,
                        "yaw": -176.9658203125
                    }
                },
                "velocity": {
                    "x": -8.111428260803223,
                    "y": -0.42848634719848633,
                    "z": 0.3073367476463318
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -927.098388671875,
                        "y": 6486.09375,
                        "z": 362.7591247558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1022.8165893554688,
                        "y": 6485.36865234375,
                        "z": 364.40740966796875
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.612564086914062,
                "transform": {
                    "location": {
                        "x": -1177.3421630859375,
                        "y": 6476.20556640625,
                        "z": 370.0574951171875
                    },
                    "rotation": {
                        "roll": 0.00032268359791487455,
                        "pitch": 1.788942575454712,
                        "yaw": -173.97726440429688
                    }
                },
                "velocity": {
                    "x": -9.554896354675293,
                    "y": -1.0081372261047363,
                    "z": 0.2983414828777313
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.172739028930664,
                "transform": {
                    "location": {
                        "x": -1110.7025146484375,
                        "y": 6482.65869140625,
                        "z": 367.7588195800781
                    },
                    "rotation": {
                        "roll": -0.0068054236471652985,
                        "pitch": 2.210371971130371,
                        "yaw": -175.90280151367188
                    }
                },
                "velocity": {
                    "x": -8.1455659866333,
                    "y": -0.5896430611610413,
                    "z": 0.30942124128341675
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1040.6434326171875,
                        "y": 6485.232421875,
                        "z": 364.98870849609375
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.100373268127441,
                "transform": {
                    "location": {
                        "x": -1075.3118896484375,
                        "y": 6484.55810546875,
                        "z": 366.3863525390625
                    },
                    "rotation": {
                        "roll": 0.0015735087217763066,
                        "pitch": 2.124134063720703,
                        "yaw": -177.98309326171875
                    }
                },
                "velocity": {
                    "x": -8.08884334564209,
                    "y": -0.2993709444999695,
                    "z": 0.31151413917541504
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1004.968017578125,
                        "y": 6485.5029296875,
                        "z": 363.9968566894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -987.9400634765625,
                        "y": 6485.63232421875,
                        "z": 363.72222900390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -968.2015991210938,
                        "y": 6485.783203125,
                        "z": 363.4132080078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -946.918701171875,
                        "y": 6485.9443359375,
                        "z": 363.0799865722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -910.293701171875,
                        "y": 6486.220703125,
                        "z": 362.4278869628906
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -863.2943725585938,
                        "y": 6486.5771484375,
                        "z": 361.4085388183594
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -883.7879638671875,
                        "y": 6486.4228515625,
                        "z": 361.88177490234375
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -837.3004760742188,
                        "y": 6486.775390625,
                        "z": 360.96734619140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1244.643310546875,
                        "y": 6469.09814453125,
                        "z": 371.8850402832031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1199.2332763671875,
                        "y": 6473.8935546875,
                        "z": 370.7098693847656
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1058.1885986328125,
                        "y": 6485.0400390625,
                        "z": 365.69549560546875
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.33101385831832886,
        "expert_target_speed": 8.7421473799256,
        "target_point": [
            56.85894078848808,
            -0.09318596825487191
        ],
        "target_point_next": [
            99.30784984877013,
            0.20330230175198238
        ]
    },
    "1000": {
        "acceleration": [
            -0.5677318572998047,
            0.006070137023925781,
            0.040143728256225586
        ],
        "angular_velocity": [
            -0.13235220313072205,
            -0.023977424949407578,
            -3.203968048095703
        ],
        "forward_vector": [
            -0.9947271943092346,
            -0.09530272334814072,
            0.037884823977947235
        ],
        "right_vector": [
            0.0953466147184372,
            -0.9954438805580139,
            -0.0006505009951069951
        ],
        "location": [
            -1130.61279296875,
            6480.666015625,
            368.45697021484375
        ],
        "rotation": [
            0.03729774057865143,
            2.1711599826812744,
            -174.52731323242188
        ],
        "velocity": [
            -7.696036338806152,
            -0.7310431599617004,
            0.2786659300327301
        ],
        "speed": 7.730679105353655,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 49.37247848510742,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1179.7313232421875,
                6475.95361328125,
                370.1317138671875
            ],
            "velocity": [
                -9.560422897338867,
                -1.0092402696609497,
                0.29411306977272034
            ],
            "speed_kmh": 34.62495540745119,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.222402572631836,
                "transform": {
                    "location": {
                        "x": -1094.3345947265625,
                        "y": 6483.7041015625,
                        "z": 367.09698486328125
                    },
                    "rotation": {
                        "roll": -0.005157472565770149,
                        "pitch": 2.172840118408203,
                        "yaw": -176.8675537109375
                    }
                },
                "velocity": {
                    "x": -8.203937530517578,
                    "y": -0.454643189907074,
                    "z": 0.3108282685279846
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -929.4810180664062,
                        "y": 6486.076171875,
                        "z": 362.8020324707031
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1024.818115234375,
                        "y": 6485.35302734375,
                        "z": 364.46484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.618042945861816,
                "transform": {
                    "location": {
                        "x": -1179.7313232421875,
                        "y": 6475.95361328125,
                        "z": 370.1317138671875
                    },
                    "rotation": {
                        "roll": 0.0008641333552077413,
                        "pitch": 1.7749543190002441,
                        "yaw": -173.97413635253906
                    }
                },
                "velocity": {
                    "x": -9.560422897338867,
                    "y": -1.0092402696609497,
                    "z": 0.29411306977272034
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.063892364501953,
                "transform": {
                    "location": {
                        "x": -1112.58203125,
                        "y": 6482.52294921875,
                        "z": 367.8312072753906
                    },
                    "rotation": {
                        "roll": -0.005004882346838713,
                        "pitch": 2.0901334285736084,
                        "yaw": -175.87322998046875
                    }
                },
                "velocity": {
                    "x": -7.040433406829834,
                    "y": -0.5096743106842041,
                    "z": 0.2666487693786621
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1042.64697265625,
                        "y": 6485.21728515625,
                        "z": 365.0639343261719
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.760051727294922,
                "transform": {
                    "location": {
                        "x": -1077.30224609375,
                        "y": 6484.484375,
                        "z": 366.4621276855469
                    },
                    "rotation": {
                        "roll": -0.0012817352544516325,
                        "pitch": 2.188344717025757,
                        "yaw": -177.89541625976562
                    }
                },
                "velocity": {
                    "x": -7.7490715980529785,
                    "y": -0.28949296474456787,
                    "z": 0.2940887212753296
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1007.1423950195312,
                        "y": 6485.48681640625,
                        "z": 364.0377197265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -990.1351318359375,
                        "y": 6485.6162109375,
                        "z": 363.7565612792969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -970.5442504882812,
                        "y": 6485.7646484375,
                        "z": 363.4497985839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -949.3014526367188,
                        "y": 6485.92529296875,
                        "z": 363.1173400878906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -912.7530517578125,
                        "y": 6486.203125,
                        "z": 362.4767150878906
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -865.7933959960938,
                        "y": 6486.55810546875,
                        "z": 361.4680480957031
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -886.2872314453125,
                        "y": 6486.40283203125,
                        "z": 361.9362487792969
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -839.800048828125,
                        "y": 6486.75634765625,
                        "z": 360.99066162109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1247.128662109375,
                        "y": 6468.8359375,
                        "z": 371.9439697265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1201.718505859375,
                        "y": 6473.63134765625,
                        "z": 370.78155517578125
                    },
                    "rotation": {
                        "roll": 1.3345455407431928e-08,
                        "pitch": 1.6061121225357056,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1060.188720703125,
                        "y": 6484.998046875,
                        "z": 365.7776794433594
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3182915151119232,
        "expert_target_speed": 8.881366838089114,
        "target_point": [
            54.94335303553622,
            0.06053783804221258
        ],
        "target_point_next": [
            97.39130240201628,
            0.47209619732105246
        ]
    },
    "1005": {
        "acceleration": [
            -0.7650852203369141,
            -0.0014448165893554688,
            0.027526021003723145
        ],
        "angular_velocity": [
            0.06116263195872307,
            0.06382282078266144,
            2.1925785541534424
        ],
        "forward_vector": [
            -0.994874894618988,
            -0.09373556077480316,
            0.0379163883626461
        ],
        "right_vector": [
            0.09378402680158615,
            -0.995592474937439,
            -0.0005021191900596023
        ],
        "location": [
            -1132.55712890625,
            6480.48291015625,
            368.5273742675781
        ],
        "rotation": [
            0.028790010139346123,
            2.1729698181152344,
            -174.61756896972656
        ],
        "velocity": [
            -7.8623247146606445,
            -0.7307772040367126,
            0.28396177291870117
        ],
        "speed": 7.896213348226053,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 49.821937561035156,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1182.1207275390625,
                6475.70166015625,
                370.2051086425781
            ],
            "velocity": [
                -9.55620288848877,
                -1.0088380575180054,
                0.2903944253921509
            ],
            "speed_kmh": 34.609295492070544,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.8410563468933105,
                "transform": {
                    "location": {
                        "x": -1096.326416015625,
                        "y": 6483.59228515625,
                        "z": 367.1726379394531
                    },
                    "rotation": {
                        "roll": -0.0019226162694394588,
                        "pitch": 2.164828300476074,
                        "yaw": -176.72018432617188
                    }
                },
                "velocity": {
                    "x": -7.822481632232666,
                    "y": -0.4503869116306305,
                    "z": 0.29681283235549927
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -931.8635864257812,
                        "y": 6486.05810546875,
                        "z": 362.84234619140625
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1026.9564208984375,
                        "y": 6485.3369140625,
                        "z": 364.5278015136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.613693237304688,
                "transform": {
                    "location": {
                        "x": -1182.1207275390625,
                        "y": 6475.70166015625,
                        "z": 370.2051086425781
                    },
                    "rotation": {
                        "roll": -0.00042724423110485077,
                        "pitch": 1.7414796352386475,
                        "yaw": -173.97378540039062
                    }
                },
                "velocity": {
                    "x": -9.55620288848877,
                    "y": -1.0088380575180054,
                    "z": 0.2903944253921509
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.114680290222168,
                "transform": {
                    "location": {
                        "x": -1114.319091796875,
                        "y": 6482.3935546875,
                        "z": 367.8962707519531
                    },
                    "rotation": {
                        "roll": -0.007629384286701679,
                        "pitch": 2.142397880554199,
                        "yaw": -175.71116638183594
                    }
                },
                "velocity": {
                    "x": -7.088692665100098,
                    "y": -0.546306312084198,
                    "z": 0.26581886410713196
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1044.5892333984375,
                        "y": 6485.203125,
                        "z": 365.1395263671875
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.717258930206299,
                "transform": {
                    "location": {
                        "x": -1079.2315673828125,
                        "y": 6484.4111328125,
                        "z": 366.53533935546875
                    },
                    "rotation": {
                        "roll": 0.0035964574199169874,
                        "pitch": 2.1734890937805176,
                        "yaw": -177.8036651611328
                    }
                },
                "velocity": {
                    "x": -7.705069541931152,
                    "y": -0.31938403844833374,
                    "z": 0.29322758316993713
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1009.2243041992188,
                        "y": 6485.4716796875,
                        "z": 364.0787353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -992.1195068359375,
                        "y": 6485.60107421875,
                        "z": 363.7875671386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -972.669189453125,
                        "y": 6485.74853515625,
                        "z": 363.483154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -951.6841430664062,
                        "y": 6485.908203125,
                        "z": 363.1546325683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -915.058837890625,
                        "y": 6486.18505859375,
                        "z": 362.52252197265625
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -868.2922973632812,
                        "y": 6486.5400390625,
                        "z": 361.5276794433594
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -888.7865600585938,
                        "y": 6486.384765625,
                        "z": 361.99017333984375
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -842.2996826171875,
                        "y": 6486.7373046875,
                        "z": 361.02191162109375
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1204.203857421875,
                        "y": 6473.369140625,
                        "z": 370.85107421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1062.119873046875,
                        "y": 6484.95849609375,
                        "z": 365.857177734375
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3115781247615814,
        "expert_target_speed": 9.043730613277653,
        "target_point": [
            52.99025063131341,
            0.14721124797455953
        ],
        "target_point_next": [
            95.43749869194974,
            0.6256647787925278
        ]
    },
    "1010": {
        "acceleration": [
            -1.0193252563476562,
            -0.030428171157836914,
            0.049498677253723145
        ],
        "angular_velocity": [
            -0.07330068200826645,
            0.12283344566822052,
            -3.0543456077575684
        ],
        "forward_vector": [
            -0.9950957894325256,
            -0.0912095233798027,
            0.03827733173966408
        ],
        "right_vector": [
            0.0912671685218811,
            -0.9958264231681824,
            -0.00024230033159255981
        ],
        "location": [
            -1134.5511474609375,
            6480.29931640625,
            368.5994567871094
        ],
        "rotation": [
            0.013892967253923416,
            2.1936655044555664,
            -174.76295471191406
        ],
        "velocity": [
            -8.091233253479004,
            -0.7351692318916321,
            0.2933838665485382
        ],
        "speed": 8.124563333602893,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 50.22178649902344,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1184.510009765625,
                6475.44921875,
                370.27764892578125
            ],
            "velocity": [
                -9.559526443481445,
                -1.0103957653045654,
                0.29136979579925537
            ],
            "speed_kmh": 34.62188367956825,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.69684362411499,
                "transform": {
                    "location": {
                        "x": -1098.0775146484375,
                        "y": 6483.49072265625,
                        "z": 367.2392883300781
                    },
                    "rotation": {
                        "roll": -0.006561277434229851,
                        "pitch": 2.139993667602539,
                        "yaw": -176.7158966064453
                    }
                },
                "velocity": {
                    "x": -6.68061637878418,
                    "y": -0.39125803112983704,
                    "z": 0.2529706358909607
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -934.3631591796875,
                        "y": 6486.03857421875,
                        "z": 362.8835144042969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1029.033447265625,
                        "y": 6485.32177734375,
                        "z": 364.5897216796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.617189407348633,
                "transform": {
                    "location": {
                        "x": -1184.510009765625,
                        "y": 6475.44921875,
                        "z": 370.27764892578125
                    },
                    "rotation": {
                        "roll": -0.00024414557265117764,
                        "pitch": 1.7438769340515137,
                        "yaw": -173.96559143066406
                    }
                },
                "velocity": {
                    "x": -9.559526443481445,
                    "y": -1.0103957653045654,
                    "z": 0.29136979579925537
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.20398235321045,
                "transform": {
                    "location": {
                        "x": -1116.220947265625,
                        "y": 6482.24755859375,
                        "z": 367.96697998046875
                    },
                    "rotation": {
                        "roll": -0.007354726083576679,
                        "pitch": 2.2339019775390625,
                        "yaw": -175.62310791015625
                    }
                },
                "velocity": {
                    "x": -8.173795700073242,
                    "y": -0.6327309608459473,
                    "z": 0.3066565692424774
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1046.4847412109375,
                        "y": 6485.18798828125,
                        "z": 365.2157287597656
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.573078632354736,
                "transform": {
                    "location": {
                        "x": -1081.07470703125,
                        "y": 6484.3349609375,
                        "z": 366.6048889160156
                    },
                    "rotation": {
                        "roll": 0.0005946719320490956,
                        "pitch": 2.234386920928955,
                        "yaw": -177.6524658203125
                    }
                },
                "velocity": {
                    "x": -6.562525272369385,
                    "y": -0.27752673625946045,
                    "z": 0.24819383025169373
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1011.4561767578125,
                        "y": 6485.4541015625,
                        "z": 364.1267395019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -994.3917236328125,
                        "y": 6485.58349609375,
                        "z": 363.8231506347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -974.9414672851562,
                        "y": 6485.73095703125,
                        "z": 363.5187072753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -954.1437377929688,
                        "y": 6485.88916015625,
                        "z": 363.1931457519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -917.5581665039062,
                        "y": 6486.16650390625,
                        "z": 362.572265625
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -870.7913818359375,
                        "y": 6486.52099609375,
                        "z": 361.5866394042969
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -891.2857666015625,
                        "y": 6486.36572265625,
                        "z": 362.0430908203125
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -844.7992553710938,
                        "y": 6486.71728515625,
                        "z": 361.0538330078125
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1206.689208984375,
                        "y": 6473.10693359375,
                        "z": 370.9205627441406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5719133615493774,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1063.9949951171875,
                        "y": 6484.91552734375,
                        "z": 365.9338684082031
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2851739227771759,
        "expert_target_speed": 20.0,
        "target_point": [
            50.987254194542686,
            0.2808150887259089
        ],
        "target_point_next": [
            93.43315194952423,
            0.8669460263162421
        ]
    },
    "1015": {
        "acceleration": [
            -1.1306381225585938,
            -0.02598285675048828,
            0.03722786903381348
        ],
        "angular_velocity": [
            0.04906439408659935,
            0.07755881547927856,
            1.9837843179702759
        ],
        "forward_vector": [
            -0.9952329993247986,
            -0.08951584249734879,
            0.038706760853528976
        ],
        "right_vector": [
            0.08957753330469131,
            -0.9959798455238342,
            -0.00014107812603469938
        ],
        "location": [
            -1136.609619140625,
            6480.1142578125,
            368.6738586425781
        ],
        "rotation": [
            0.008089243434369564,
            2.2182881832122803,
            -174.86038208007812
        ],
        "velocity": [
            -8.36721134185791,
            -0.7423022985458374,
            0.30227965116500854
        ],
        "speed": 8.400073710494574,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 50.55730056762695,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1186.8992919921875,
                6475.19677734375,
                370.3494567871094
            ],
            "velocity": [
                -9.556780815124512,
                -1.0091224908828735,
                0.2873152196407318
            ],
            "speed_kmh": 34.61113800062716,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.128533363342285,
                "transform": {
                    "location": {
                        "x": -1099.791015625,
                        "y": 6483.38623046875,
                        "z": 367.3039245605469
                    },
                    "rotation": {
                        "roll": -0.01837158016860485,
                        "pitch": 2.1758933067321777,
                        "yaw": -176.96939086914062
                    }
                },
                "velocity": {
                    "x": -7.11030387878418,
                    "y": -0.43217605352401733,
                    "z": 0.26979854702949524
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -936.7059936523438,
                        "y": 6486.02099609375,
                        "z": 362.9201354980469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1031.2650146484375,
                        "y": 6485.3037109375,
                        "z": 364.6618957519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.614205360412598,
                "transform": {
                    "location": {
                        "x": -1186.8992919921875,
                        "y": 6475.19677734375,
                        "z": 370.3494567871094
                    },
                    "rotation": {
                        "roll": -3.050927807635162e-05,
                        "pitch": 1.7077316045761108,
                        "yaw": -173.97218322753906
                    }
                },
                "velocity": {
                    "x": -9.556780815124512,
                    "y": -1.0091224908828735,
                    "z": 0.2873152196407318
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.109942436218262,
                "transform": {
                    "location": {
                        "x": -1118.4000244140625,
                        "y": 6482.078125,
                        "z": 368.0484619140625
                    },
                    "rotation": {
                        "roll": -0.011383052915334702,
                        "pitch": 2.2437989711761475,
                        "yaw": -175.53585815429688
                    }
                },
                "velocity": {
                    "x": -9.074563026428223,
                    "y": -0.7288625836372375,
                    "z": 0.33482229709625244
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1048.6141357421875,
                        "y": 6485.171875,
                        "z": 365.3016052246094
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.326501369476318,
                "transform": {
                    "location": {
                        "x": -1082.494140625,
                        "y": 6484.27490234375,
                        "z": 366.6581115722656
                    },
                    "rotation": {
                        "roll": -0.0022277850657701492,
                        "pitch": 2.2845001220703125,
                        "yaw": -177.6059112548828
                    }
                },
                "velocity": {
                    "x": -5.317929744720459,
                    "y": -0.22562995553016663,
                    "z": 0.20082210004329681
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1013.798828125,
                        "y": 6485.4365234375,
                        "z": 364.17767333984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -996.771484375,
                        "y": 6485.5654296875,
                        "z": 363.8603820800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -977.3611450195312,
                        "y": 6485.712890625,
                        "z": 363.55657958984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -956.5265502929688,
                        "y": 6485.87109375,
                        "z": 363.23040771484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -919.9007568359375,
                        "y": 6486.1484375,
                        "z": 362.6188659667969
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -873.2907104492188,
                        "y": 6486.501953125,
                        "z": 361.6448669433594
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -893.7849731445312,
                        "y": 6486.3466796875,
                        "z": 362.09564208984375
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -847.2988891601562,
                        "y": 6486.69873046875,
                        "z": 361.0920104980469
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.174560546875,
                        "y": 6472.8447265625,
                        "z": 370.9885559082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1065.6986083984375,
                        "y": 6484.87060546875,
                        "z": 366.0027160644531
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2504221498966217,
        "expert_target_speed": 20.0,
        "target_point": [
            48.919929399110835,
            0.36762694746124946
        ],
        "target_point_next": [
            91.36476881958328,
            1.0259523021719996
        ]
    },
    "1020": {
        "acceleration": [
            -1.1228370666503906,
            -0.02358555793762207,
            0.03130793571472168
        ],
        "angular_velocity": [
            -0.06480605900287628,
            0.012591352686285973,
            -2.9179847240448
        ],
        "forward_vector": [
            -0.9954584240913391,
            -0.08689871430397034,
            0.03887364640831947
        ],
        "right_vector": [
            0.08696599304676056,
            -0.9962112903594971,
            3.991729681729339e-05
        ],
        "location": [
            -1138.73828125,
            6479.92724609375,
            368.7508850097656
        ],
        "rotation": [
            -0.0022888227831572294,
            2.2278573513031006,
            -175.01100158691406
        ],
        "velocity": [
            -8.64997386932373,
            -0.7484637498855591,
            0.3129187822341919
        ],
        "speed": 8.68229496877848,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 50.823036193847656,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1189.2889404296875,
                6474.94482421875,
                370.42041015625
            ],
            "velocity": [
                -9.56011962890625,
                -1.0100836753845215,
                0.2827412486076355
            ],
            "speed_kmh": 34.622961204563026,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.698427677154541,
                "transform": {
                    "location": {
                        "x": -1101.66455078125,
                        "y": 6483.27294921875,
                        "z": 367.3748779296875
                    },
                    "rotation": {
                        "roll": -0.013854975812137127,
                        "pitch": 2.1918554306030273,
                        "yaw": -176.69595336914062
                    }
                },
                "velocity": {
                    "x": -7.678153038024902,
                    "y": -0.4766850173473358,
                    "z": 0.29073357582092285
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -939.2056274414062,
                        "y": 6486.00244140625,
                        "z": 362.9593200683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1033.394775390625,
                        "y": 6485.28857421875,
                        "z": 364.7308044433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.6174898147583,
                "transform": {
                    "location": {
                        "x": -1189.2889404296875,
                        "y": 6474.94482421875,
                        "z": 370.42041015625
                    },
                    "rotation": {
                        "roll": -6.103822670411319e-05,
                        "pitch": 1.6969057321548462,
                        "yaw": -173.9684295654297
                    }
                },
                "velocity": {
                    "x": -9.56011962890625,
                    "y": -1.0100836753845215,
                    "z": 0.2827412486076355
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.422484397888184,
                "transform": {
                    "location": {
                        "x": -1120.6044921875,
                        "y": 6481.89990234375,
                        "z": 368.1311340332031
                    },
                    "rotation": {
                        "roll": -0.009399410337209702,
                        "pitch": 2.069854497909546,
                        "yaw": -175.36390686035156
                    }
                },
                "velocity": {
                    "x": -8.388490676879883,
                    "y": -0.6894776821136475,
                    "z": 0.3099735677242279
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1050.742919921875,
                        "y": 6485.14599609375,
                        "z": 365.38909912109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.544773578643799,
                "transform": {
                    "location": {
                        "x": -1083.8260498046875,
                        "y": 6484.21728515625,
                        "z": 366.7096252441406
                    },
                    "rotation": {
                        "roll": 0.0012403071159496903,
                        "pitch": 2.1518099308013916,
                        "yaw": -177.50083923339844
                    }
                },
                "velocity": {
                    "x": -5.534788131713867,
                    "y": -0.25824642181396484,
                    "z": 0.20962363481521606
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1015.928955078125,
                        "y": 6485.42041015625,
                        "z": 364.2292785644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -998.9020385742188,
                        "y": 6485.5498046875,
                        "z": 363.8937683105469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -979.8206787109375,
                        "y": 6485.69384765625,
                        "z": 363.5950622558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -958.9861450195312,
                        "y": 6485.8525390625,
                        "z": 363.2689514160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -922.4000854492188,
                        "y": 6486.13037109375,
                        "z": 362.6685485839844
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -875.7899780273438,
                        "y": 6486.48291015625,
                        "z": 361.7023620605469
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -896.2843017578125,
                        "y": 6486.328125,
                        "z": 362.1473083496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -849.7985229492188,
                        "y": 6486.6796875,
                        "z": 361.13092041015625
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -831.3001098632812,
                        "y": 6486.8203125,
                        "z": 361.1000671386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3764936625957489,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1211.659912109375,
                        "y": 6472.58154296875,
                        "z": 371.0565185546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.537728190422058,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1067.6566162109375,
                        "y": 6484.81982421875,
                        "z": 366.0819396972656
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.21687841415405273,
        "expert_target_speed": 20.0,
        "target_point": [
            46.78193308395603,
            0.49504080065934986
        ],
        "target_point_next": [
            89.22489523887955,
            1.2649428840934336
        ]
    },
    "1025": {
        "acceleration": [
            -1.02203369140625,
            -0.002371072769165039,
            0.04824042320251465
        ],
        "angular_velocity": [
            0.027460934594273567,
            -0.01578102447092533,
            1.8015779256820679
        ],
        "forward_vector": [
            -0.9956161975860596,
            -0.08506222814321518,
            0.03889461234211922
        ],
        "right_vector": [
            0.0851321667432785,
            -0.9963696599006653,
            0.00014263729099184275
        ],
        "location": [
            -1140.935546875,
            6479.7392578125,
            368.83038330078125
        ],
        "rotation": [
            -0.008178703486919403,
            2.2290594577789307,
            -175.11669921875
        ],
        "velocity": [
            -8.91379451751709,
            -0.7511730790138245,
            0.322466105222702
        ],
        "speed": 8.945389521711888,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 51.020362854003906,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1191.678466796875,
                6474.69189453125,
                370.490966796875
            ],
            "velocity": [
                -9.557305335998535,
                -1.00983726978302,
                0.28214940428733826
            ],
            "speed_kmh": 34.612734432393815,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.063278198242188,
                "transform": {
                    "location": {
                        "x": -1103.7703857421875,
                        "y": 6483.14306640625,
                        "z": 367.45452880859375
                    },
                    "rotation": {
                        "roll": -0.009094232693314552,
                        "pitch": 2.2114717960357666,
                        "yaw": -176.45196533203125
                    }
                },
                "velocity": {
                    "x": -9.03798770904541,
                    "y": -0.5833460092544556,
                    "z": 0.3427751958370209
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -941.4376220703125,
                        "y": 6485.98486328125,
                        "z": 362.9942932128906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1035.344482421875,
                        "y": 6485.2724609375,
                        "z": 364.7983093261719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.61464786529541,
                "transform": {
                    "location": {
                        "x": -1191.678466796875,
                        "y": 6474.69189453125,
                        "z": 370.490966796875
                    },
                    "rotation": {
                        "roll": -0.001434324192814529,
                        "pitch": 1.6914279460906982,
                        "yaw": -173.9672088623047
                    }
                },
                "velocity": {
                    "x": -9.557305335998535,
                    "y": -1.00983726978302,
                    "z": 0.28214940428733826
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.026618003845215,
                "transform": {
                    "location": {
                        "x": -1122.620849609375,
                        "y": 6481.734375,
                        "z": 368.20513916015625
                    },
                    "rotation": {
                        "roll": -0.0067749046720564365,
                        "pitch": 2.0555317401885986,
                        "yaw": -175.26585388183594
                    }
                },
                "velocity": {
                    "x": -7.993844509124756,
                    "y": -0.6630905866622925,
                    "z": 0.29215627908706665
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1052.2437744140625,
                        "y": 6485.1298828125,
                        "z": 365.4508056640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.568485260009766,
                "transform": {
                    "location": {
                        "x": -1085.299560546875,
                        "y": 6484.1494140625,
                        "z": 366.76605224609375
                    },
                    "rotation": {
                        "roll": 0.0012647123076021671,
                        "pitch": 2.0807554721832275,
                        "yaw": -177.3773651123047
                    }
                },
                "velocity": {
                    "x": -6.556488037109375,
                    "y": -0.30882734060287476,
                    "z": 0.24918340146541595
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1018.1354370117188,
                        "y": 6485.40380859375,
                        "z": 364.28271484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1001.0322265625,
                        "y": 6485.533203125,
                        "z": 363.9286193847656
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -981.9507446289062,
                        "y": 6485.67822265625,
                        "z": 363.62841796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -961.1163330078125,
                        "y": 6485.8359375,
                        "z": 363.30224609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -924.7425537109375,
                        "y": 6486.1123046875,
                        "z": 362.71435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -878.2491455078125,
                        "y": 6486.46435546875,
                        "z": 361.7582702636719
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -898.7034912109375,
                        "y": 6486.31005859375,
                        "z": 362.19683837890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -852.2977905273438,
                        "y": 6486.66162109375,
                        "z": 361.1759948730469
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -832.801513671875,
                        "y": 6486.80908203125,
                        "z": 360.9869689941406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1214.145263671875,
                        "y": 6472.3193359375,
                        "z": 371.12298583984375
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1069.1287841796875,
                        "y": 6484.77685546875,
                        "z": 366.140625
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.17612329125404358,
        "expert_target_speed": 20.0,
        "target_point": [
            44.57564778765512,
            0.5810649364480196
        ],
        "target_point_next": [
            87.01711773932853,
            1.4292477254452214
        ]
    },
    "1030": {
        "acceleration": [
            -0.9559822082519531,
            0.02211451530456543,
            -0.00444948673248291
        ],
        "angular_velocity": [
            -0.016865283250808716,
            -0.20495830476284027,
            -3.0070550441741943
        ],
        "forward_vector": [
            -0.9959245324134827,
            -0.08152680099010468,
            0.038571324199438095
        ],
        "right_vector": [
            0.081593818962574,
            -0.9966656565666199,
            0.00016392870747949928
        ],
        "location": [
            -1143.1964111328125,
            6479.55224609375,
            368.9120178222656
        ],
        "rotation": [
            -0.009399417787790298,
            2.210522413253784,
            -175.32017517089844
        ],
        "velocity": [
            -9.161592483520508,
            -0.740303099155426,
            0.3269027769565582
        ],
        "speed": 9.191453938997823,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 51.154640197753906,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1194.0682373046875,
                6474.43994140625,
                370.56085205078125
            ],
            "velocity": [
                -9.56173038482666,
                -1.0107091665267944,
                0.2780534029006958
            ],
            "speed_kmh": 34.62846992396621,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.491374969482422,
                "transform": {
                    "location": {
                        "x": -1105.9700927734375,
                        "y": 6483.00048828125,
                        "z": 367.5383605957031
                    },
                    "rotation": {
                        "roll": -0.0023803655058145523,
                        "pitch": 2.1605184078216553,
                        "yaw": -176.1409454345703
                    }
                },
                "velocity": {
                    "x": -8.466105461120605,
                    "y": -0.5705633163452148,
                    "z": 0.3208756148815155
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -943.7954711914062,
                        "y": 6485.96728515625,
                        "z": 363.0311584472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1037.5389404296875,
                        "y": 6485.25634765625,
                        "z": 364.8749084472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.619019508361816,
                "transform": {
                    "location": {
                        "x": -1194.0682373046875,
                        "y": 6474.43994140625,
                        "z": 370.56085205078125
                    },
                    "rotation": {
                        "roll": -0.001373292994685471,
                        "pitch": 1.663021206855774,
                        "yaw": -173.97103881835938
                    }
                },
                "velocity": {
                    "x": -9.56173038482666,
                    "y": -1.0107091665267944,
                    "z": 0.2780534029006958
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.879131317138672,
                "transform": {
                    "location": {
                        "x": -1124.7154541015625,
                        "y": 6481.55615234375,
                        "z": 368.28045654296875
                    },
                    "rotation": {
                        "roll": -0.010192864574491978,
                        "pitch": 2.139406442642212,
                        "yaw": -175.1306915283203
                    }
                },
                "velocity": {
                    "x": -8.839895248413086,
                    "y": -0.7695605158805847,
                    "z": 0.3209303915500641
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1054.3155517578125,
                        "y": 6485.103515625,
                        "z": 365.5359191894531
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9410223960876465,
                "transform": {
                    "location": {
                        "x": -1087.1361083984375,
                        "y": 6484.06298828125,
                        "z": 366.83612060546875
                    },
                    "rotation": {
                        "roll": 0.0004056831821799278,
                        "pitch": 2.028081178665161,
                        "yaw": -177.31800842285156
                    }
                },
                "velocity": {
                    "x": -7.926387310028076,
                    "y": -0.37618744373321533,
                    "z": 0.30116063356399536
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1020.3670043945312,
                        "y": 6485.38623046875,
                        "z": 364.34185791015625
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1003.3041381835938,
                        "y": 6485.5166015625,
                        "z": 363.9658508300781
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -984.3703002929688,
                        "y": 6485.65966796875,
                        "z": 363.6662902832031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -963.6159057617188,
                        "y": 6485.81787109375,
                        "z": 363.3414001464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -926.989501953125,
                        "y": 6486.0947265625,
                        "z": 362.7570495605469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -880.3792724609375,
                        "y": 6486.44775390625,
                        "z": 361.80615234375
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -900.8735961914062,
                        "y": 6486.29248046875,
                        "z": 362.240234375
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -854.7969970703125,
                        "y": 6486.64306640625,
                        "z": 361.22174072265625
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -835.3004760742188,
                        "y": 6486.7900390625,
                        "z": 360.94952392578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1216.630615234375,
                        "y": 6472.056640625,
                        "z": 371.1894836425781
                    },
                    "rotation": {
                        "roll": -6.672403518592773e-09,
                        "pitch": 1.50352942943573,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1070.925537109375,
                        "y": 6484.720703125,
                        "z": 366.2113952636719
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.12336084991693497,
        "expert_target_speed": 20.0,
        "target_point": [
            42.30471826452286,
            0.7374408699697028
        ],
        "target_point_next": [
            84.74290825810114,
            1.7363481586103608
        ]
    },
    "1035": {
        "acceleration": [
            -0.7652473449707031,
            -0.0078046321868896484,
            -7.450580596923828e-05
        ],
        "angular_velocity": [
            0.05540323629975319,
            -0.2158007174730301,
            1.8995723724365234
        ],
        "forward_vector": [
            -0.996082067489624,
            -0.0800633430480957,
            0.03755461052060127
        ],
        "right_vector": [
            0.08013775944709778,
            -0.9967836737632751,
            0.00047796612489037216
        ],
        "location": [
            -1145.514892578125,
            6479.3662109375,
            368.9945373535156
        ],
        "rotation": [
            -0.027404775843024254,
            2.152226686477661,
            -175.404541015625
        ],
        "velocity": [
            -9.374629020690918,
            -0.747209906578064,
            0.3310023546218872
        ],
        "speed": 9.40436026107405,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 51.231529235839844,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1196.457763671875,
                6474.1875,
                370.62994384765625
            ],
            "velocity": [
                -9.556893348693848,
                -1.0096696615219116,
                0.275421142578125
            ],
            "speed_kmh": 34.610494382758134,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.33272647857666,
                "transform": {
                    "location": {
                        "x": -1108.0531005859375,
                        "y": 6482.859375,
                        "z": 367.61737060546875
                    },
                    "rotation": {
                        "roll": -0.0006103559280745685,
                        "pitch": 2.1627860069274902,
                        "yaw": -175.9900665283203
                    }
                },
                "velocity": {
                    "x": -8.306873321533203,
                    "y": -0.5754939913749695,
                    "z": 0.3146342635154724
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -946.1381225585938,
                        "y": 6485.94921875,
                        "z": 363.06781005859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1039.524658203125,
                        "y": 6485.24169921875,
                        "z": 364.94683837890625
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.614026069641113,
                "transform": {
                    "location": {
                        "x": -1196.457763671875,
                        "y": 6474.1875,
                        "z": 370.62994384765625
                    },
                    "rotation": {
                        "roll": 0.00022243407147470862,
                        "pitch": 1.654667854309082,
                        "yaw": -173.9747772216797
                    }
                },
                "velocity": {
                    "x": -9.556893348693848,
                    "y": -1.0096696615219116,
                    "z": 0.275421142578125
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.057832717895508,
                "transform": {
                    "location": {
                        "x": -1126.974609375,
                        "y": 6481.359375,
                        "z": 368.36260986328125
                    },
                    "rotation": {
                        "roll": -0.006103516556322575,
                        "pitch": 2.106566905975342,
                        "yaw": -174.99468994140625
                    }
                },
                "velocity": {
                    "x": -9.01722240447998,
                    "y": -0.79251629114151,
                    "z": 0.32551109790802
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1056.331298828125,
                        "y": 6485.06982421875,
                        "z": 365.6189270019531
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.694538116455078,
                "transform": {
                    "location": {
                        "x": -1089.2215576171875,
                        "y": 6483.96240234375,
                        "z": 366.9149169921875
                    },
                    "rotation": {
                        "roll": 0.003482002764940262,
                        "pitch": 2.0667126178741455,
                        "yaw": -177.22657775878906
                    }
                },
                "velocity": {
                    "x": -8.676868438720703,
                    "y": -0.4453730285167694,
                    "z": 0.32954221963882446
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1022.3615112304688,
                        "y": 6485.37158203125,
                        "z": 364.3952331542969
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1005.3563842773438,
                        "y": 6485.50048828125,
                        "z": 364.00396728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -986.5254516601562,
                        "y": 6485.642578125,
                        "z": 363.6999816894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -965.8480224609375,
                        "y": 6485.80029296875,
                        "z": 363.37628173828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -929.4088745117188,
                        "y": 6486.07666015625,
                        "z": 362.8005676269531
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -882.838623046875,
                        "y": 6486.4296875,
                        "z": 361.8606872558594
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -903.3329467773438,
                        "y": 6486.27490234375,
                        "z": 362.28948974609375
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -857.2963256835938,
                        "y": 6486.62353515625,
                        "z": 361.2737121582031
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -837.800048828125,
                        "y": 6486.77099609375,
                        "z": 360.9718017578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1219.115966796875,
                        "y": 6471.79345703125,
                        "z": 371.2545166015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1072.9888916015625,
                        "y": 6484.65673828125,
                        "z": 366.292724609375
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.08525294065475464,
        "expert_target_speed": 20.0,
        "target_point": [
            39.97765335417445,
            0.8000521612904614
        ],
        "target_point_next": [
            82.414326477379,
            1.861447439514154
        ]
    },
    "1040": {
        "acceleration": [
            -0.3829193115234375,
            0.008847713470458984,
            0.02544701099395752
        ],
        "angular_velocity": [
            -0.08387242257595062,
            -0.1160304993391037,
            -2.4432554244995117
        ],
        "forward_vector": [
            -0.9962244033813477,
            -0.078513003885746,
            0.03704987093806267
        ],
        "right_vector": [
            0.07859016209840775,
            -0.9969068169593811,
            0.0006286067655310035
        ],
        "location": [
            -1147.8779296875,
            6479.1787109375,
            369.0776062011719
        ],
        "rotation": [
            -0.0360412634909153,
            2.1232872009277344,
            -175.49380493164062
        ],
        "velocity": [
            -9.510422706604004,
            -0.7469615936279297,
            0.33255019783973694
        ],
        "speed": 9.539711299648653,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 51.264259338378906,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1198.8475341796875,
                6473.93505859375,
                370.69866943359375
            ],
            "velocity": [
                -9.561537742614746,
                -1.0096622705459595,
                0.273921936750412
            ],
            "speed_kmh": 34.62695797357179,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.656850814819336,
                "transform": {
                    "location": {
                        "x": -1110.167724609375,
                        "y": 6482.70947265625,
                        "z": 367.69744873046875
                    },
                    "rotation": {
                        "roll": -0.0002746674872469157,
                        "pitch": 2.1827917098999023,
                        "yaw": -175.83616638183594
                    }
                },
                "velocity": {
                    "x": -8.627931594848633,
                    "y": -0.6264017224311829,
                    "z": 0.32784804701805115
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -948.527099609375,
                        "y": 6485.931640625,
                        "z": 363.1051940917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1041.676025390625,
                        "y": 6485.2255859375,
                        "z": 365.0274963378906
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.618599891662598,
                "transform": {
                    "location": {
                        "x": -1198.8475341796875,
                        "y": 6473.93505859375,
                        "z": 370.69866943359375
                    },
                    "rotation": {
                        "roll": 0.000632287235930562,
                        "pitch": 1.6473731994628906,
                        "yaw": -173.9670867919922
                    }
                },
                "velocity": {
                    "x": -9.561537742614746,
                    "y": -1.0096622705459595,
                    "z": 0.273921936750412
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.144916534423828,
                "transform": {
                    "location": {
                        "x": -1129.2266845703125,
                        "y": 6481.15869140625,
                        "z": 368.44427490234375
                    },
                    "rotation": {
                        "roll": -0.012725827284157276,
                        "pitch": 2.091219425201416,
                        "yaw": -174.87918090820312
                    }
                },
                "velocity": {
                    "x": -9.100810050964355,
                    "y": -0.8345496654510498,
                    "z": 0.329049289226532
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1058.4876708984375,
                        "y": 6485.0341796875,
                        "z": 365.7076416015625
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.259472846984863,
                "transform": {
                    "location": {
                        "x": -1091.3494873046875,
                        "y": 6483.853515625,
                        "z": 366.99462890625
                    },
                    "rotation": {
                        "roll": 0.0016167978756129742,
                        "pitch": 2.1780312061309814,
                        "yaw": -177.07008361816406
                    }
                },
                "velocity": {
                    "x": -8.242402076721191,
                    "y": -0.4298684298992157,
                    "z": 0.3113160729408264
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1024.498779296875,
                        "y": 6485.35498046875,
                        "z": 364.4554138183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1007.4593505859375,
                        "y": 6485.48486328125,
                        "z": 364.0435791015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -988.7393798828125,
                        "y": 6485.6259765625,
                        "z": 363.7347106933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -968.34765625,
                        "y": 6485.7822265625,
                        "z": 363.41552734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -931.7210693359375,
                        "y": 6486.05908203125,
                        "z": 362.8398742675781
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -885.1106567382812,
                        "y": 6486.41259765625,
                        "z": 361.91070556640625
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -905.6049194335938,
                        "y": 6486.2568359375,
                        "z": 362.3346252441406
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -859.7955932617188,
                        "y": 6486.60400390625,
                        "z": 361.32635498046875
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -840.2996826171875,
                        "y": 6486.75244140625,
                        "z": 360.9969177246094
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1221.601318359375,
                        "y": 6471.53173828125,
                        "z": 371.31939697265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.469317078590393,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1075.129638671875,
                        "y": 6484.5791015625,
                        "z": 366.37493896484375
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03166820853948593,
        "expert_target_speed": 20.0,
        "target_point": [
            37.60589420609477,
            0.8610838074396732
        ],
        "target_point_next": [
            80.04086182893215,
            1.9886070005890701
        ]
    },
    "1045": {
        "acceleration": [
            0.21183013916015625,
            0.06381750106811523,
            0.00021636486053466797
        ],
        "angular_velocity": [
            0.14876428246498108,
            -0.370334267616272,
            1.9275953769683838
        ],
        "forward_vector": [
            -0.9963274598121643,
            -0.07772979140281677,
            0.03591206297278404
        ],
        "right_vector": [
            0.07780449092388153,
            -0.9969683885574341,
            0.0006850552745163441
        ],
        "location": [
            -1150.258544921875,
            6478.9931640625,
            369.1607666015625
        ],
        "rotation": [
            -0.039276111871004105,
            2.0580520629882812,
            -175.53903198242188
        ],
        "velocity": [
            -9.514975547790527,
            -0.7359383702278137,
            0.3299558162689209
        ],
        "speed": 9.543393786270439,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 51.279823303222656,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1201.2373046875,
                6473.68212890625,
                370.7668151855469
            ],
            "velocity": [
                -9.558375358581543,
                -1.0100375413894653,
                0.27004456520080566
            ],
            "speed_kmh": 34.61538800295083,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.935155868530273,
                "transform": {
                    "location": {
                        "x": -1112.361328125,
                        "y": 6482.54931640625,
                        "z": 367.7807312011719
                    },
                    "rotation": {
                        "roll": -0.0014953535282984376,
                        "pitch": 2.1806812286376953,
                        "yaw": -175.75755310058594
                    }
                },
                "velocity": {
                    "x": -8.90444278717041,
                    "y": -0.6586254239082336,
                    "z": 0.33782392740249634
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -950.8533325195312,
                        "y": 6485.91357421875,
                        "z": 363.1416320800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1043.738525390625,
                        "y": 6485.2099609375,
                        "z": 365.10546875
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.615385055541992,
                "transform": {
                    "location": {
                        "x": -1201.2373046875,
                        "y": 6473.68212890625,
                        "z": 370.7668151855469
                    },
                    "rotation": {
                        "roll": -0.001770024886354804,
                        "pitch": 1.6179351806640625,
                        "yaw": -173.97361755371094
                    }
                },
                "velocity": {
                    "x": -9.558375358581543,
                    "y": -1.0100375413894653,
                    "z": 0.27004456520080566
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.237318992614746,
                "transform": {
                    "location": {
                        "x": -1131.5213623046875,
                        "y": 6480.94775390625,
                        "z": 368.52734375
                    },
                    "rotation": {
                        "roll": -0.006896975450217724,
                        "pitch": 2.085318088531494,
                        "yaw": -174.71080017089844
                    }
                },
                "velocity": {
                    "x": -9.191648483276367,
                    "y": -0.8546380996704102,
                    "z": 0.3335433900356293
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1060.525390625,
                        "y": 6484.99072265625,
                        "z": 365.79150390625
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.177684783935547,
                "transform": {
                    "location": {
                        "x": -1093.3729248046875,
                        "y": 6483.748046875,
                        "z": 367.0713195800781
                    },
                    "rotation": {
                        "roll": -0.004913329612463713,
                        "pitch": 2.1661670207977295,
                        "yaw": -177.01922607421875
                    }
                },
                "velocity": {
                    "x": -8.160604476928711,
                    "y": -0.42835500836372375,
                    "z": 0.3091467022895813
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1026.5867919921875,
                        "y": 6485.33935546875,
                        "z": 364.5169372558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1009.5805053710938,
                        "y": 6485.46875,
                        "z": 364.08636474609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -990.9077758789062,
                        "y": 6485.60986328125,
                        "z": 363.7686767578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -970.599609375,
                        "y": 6485.76416015625,
                        "z": 363.45074462890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -934.1180419921875,
                        "y": 6486.041015625,
                        "z": 362.8795166015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -887.6099243164062,
                        "y": 6486.3935546875,
                        "z": 361.9646911621094
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -908.0642700195312,
                        "y": 6486.2392578125,
                        "z": 362.383544921875
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -862.294921875,
                        "y": 6486.5849609375,
                        "z": 361.3850402832031
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -842.7992553710938,
                        "y": 6486.73291015625,
                        "z": 361.0281677246094
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1224.086669921875,
                        "y": 6471.2685546875,
                        "z": 371.38299560546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1077.1575927734375,
                        "y": 6484.50634765625,
                        "z": 366.4527893066406
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.013982974924147129,
        "expert_target_speed": 20.0,
        "target_point": [
            35.2173678499965,
            0.8909398665345853
        ],
        "target_point_next": [
            77.65143245665517,
            2.051950917414226
        ]
    },
    "1050": {
        "acceleration": [
            0.4698944091796875,
            -0.0205385684967041,
            -0.03087937831878662
        ],
        "angular_velocity": [
            -0.11627259850502014,
            -0.1799747496843338,
            -2.0465798377990723
        ],
        "forward_vector": [
            -0.9964370131492615,
            -0.07690995931625366,
            0.03461539000272751
        ],
        "right_vector": [
            0.07698825746774673,
            -0.997031569480896,
            0.000932612456381321
        ],
        "location": [
            -1152.625732421875,
            6478.81005859375,
            369.2427673339844
        ],
        "rotation": [
            -0.0534668043255806,
            1.9837121963500977,
            -175.5863800048828
        ],
        "velocity": [
            -9.422122955322266,
            -0.7318823933601379,
            0.3233603537082672
        ],
        "speed": 9.450505426850002,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 51.309303283691406,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1203.62744140625,
                6473.4306640625,
                370.83416748046875
            ],
            "velocity": [
                -9.561346054077148,
                -1.0109401941299438,
                0.2678130567073822
            ],
            "speed_kmh": 34.626135895988476,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.245171546936035,
                "transform": {
                    "location": {
                        "x": -1114.636962890625,
                        "y": 6482.37939453125,
                        "z": 367.8667907714844
                    },
                    "rotation": {
                        "roll": -0.0040283203125,
                        "pitch": 2.163414478302002,
                        "yaw": -175.65069580078125
                    }
                },
                "velocity": {
                    "x": -9.211780548095703,
                    "y": -0.704791784286499,
                    "z": 0.34578949213027954
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -953.2786254882812,
                        "y": 6485.89599609375,
                        "z": 363.1795959472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1045.7938232421875,
                        "y": 6485.19384765625,
                        "z": 365.18798828125
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.61837100982666,
                "transform": {
                    "location": {
                        "x": -1203.62744140625,
                        "y": 6473.4306640625,
                        "z": 370.83416748046875
                    },
                    "rotation": {
                        "roll": -0.003143306588754058,
                        "pitch": 1.6135227680206299,
                        "yaw": -173.9689178466797
                    }
                },
                "velocity": {
                    "x": -9.561346054077148,
                    "y": -1.0109401941299438,
                    "z": 0.2678130567073822
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.510912895202637,
                "transform": {
                    "location": {
                        "x": -1133.8427734375,
                        "y": 6480.73046875,
                        "z": 368.61126708984375
                    },
                    "rotation": {
                        "roll": -0.013946539722383022,
                        "pitch": 2.099149227142334,
                        "yaw": -174.62588500976562
                    }
                },
                "velocity": {
                    "x": -9.46095085144043,
                    "y": -0.9113717675209045,
                    "z": 0.3424658179283142
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1062.6102294921875,
                        "y": 6484.947265625,
                        "z": 365.8773498535156
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.893194198608398,
                "transform": {
                    "location": {
                        "x": -1095.505126953125,
                        "y": 6483.62939453125,
                        "z": 367.1527404785156
                    },
                    "rotation": {
                        "roll": 0.005127223674207926,
                        "pitch": 2.1044700145721436,
                        "yaw": -176.8241729736328
                    }
                },
                "velocity": {
                    "x": -8.87231159210205,
                    "y": -0.507341206073761,
                    "z": 0.3370364308357239
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1028.62548828125,
                        "y": 6485.32421875,
                        "z": 364.57757568359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1011.6063842773438,
                        "y": 6485.453125,
                        "z": 364.12994384765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -992.9380493164062,
                        "y": 6485.5947265625,
                        "z": 363.8004455566406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -972.9285888671875,
                        "y": 6485.74658203125,
                        "z": 363.4872131347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -936.47265625,
                        "y": 6486.0234375,
                        "z": 362.9164123535156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -889.8616333007812,
                        "y": 6486.3759765625,
                        "z": 362.01318359375
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -910.3558349609375,
                        "y": 6486.220703125,
                        "z": 362.4290466308594
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -864.794189453125,
                        "y": 6486.5654296875,
                        "z": 361.4441833496094
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -845.2988891601562,
                        "y": 6486.71337890625,
                        "z": 361.0614318847656
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1226.572021484375,
                        "y": 6471.0068359375,
                        "z": 371.4464416503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.435118317604065,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1079.270263671875,
                        "y": 6484.4248046875,
                        "z": 366.533203125
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.059503745287656784,
        "expert_target_speed": 20.0,
        "target_point": [
            32.84236094365846,
            0.9196484107642555
        ],
        "target_point_next": [
            75.27545165028336,
            2.115724823746242
        ]
    },
    "1055": {
        "acceleration": [
            0.7090568542480469,
            -0.0033903121948242188,
            -0.07291853427886963
        ],
        "angular_velocity": [
            0.11080007255077362,
            -0.18987150490283966,
            2.684008836746216
        ],
        "forward_vector": [
            -0.9963108897209167,
            -0.07878345996141434,
            0.0340263694524765
        ],
        "right_vector": [
            0.07886790484189987,
            -0.9968844056129456,
            0.0011444957926869392
        ],
        "location": [
            -1154.9622802734375,
            6478.626953125,
            369.3229675292969
        ],
        "rotation": [
            -0.0656127855181694,
            1.9499437808990479,
            -175.47872924804688
        ],
        "velocity": [
            -9.268963813781738,
            -0.7353518605232239,
            0.3163450062274933
        ],
        "speed": 9.298087574333245,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 51.36909484863281,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1206.0172119140625,
                6473.17822265625,
                370.90069580078125
            ],
            "velocity": [
                -9.558466911315918,
                -1.0099658966064453,
                0.2672821879386902
            ],
            "speed_kmh": 34.615410687325976,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.104691505432129,
                "transform": {
                    "location": {
                        "x": -1116.9248046875,
                        "y": 6482.203125,
                        "z": 367.9529113769531
                    },
                    "rotation": {
                        "roll": -0.0015563874039798975,
                        "pitch": 2.1398708820343018,
                        "yaw": -175.5321044921875
                    }
                },
                "velocity": {
                    "x": -9.070679664611816,
                    "y": -0.709040641784668,
                    "z": 0.33976835012435913
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -955.73828125,
                        "y": 6485.876953125,
                        "z": 363.2180480957031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1048.0018310546875,
                        "y": 6485.1767578125,
                        "z": 365.2767028808594
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.615391731262207,
                "transform": {
                    "location": {
                        "x": -1206.0172119140625,
                        "y": 6473.17822265625,
                        "z": 370.90069580078125
                    },
                    "rotation": {
                        "roll": -0.005004887003451586,
                        "pitch": 1.5873222351074219,
                        "yaw": -173.9671630859375
                    }
                },
                "velocity": {
                    "x": -9.558466911315918,
                    "y": -1.0099658966064453,
                    "z": 0.2672821879386902
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.911035537719727,
                "transform": {
                    "location": {
                        "x": -1136.1429443359375,
                        "y": 6480.5078125,
                        "z": 368.695068359375
                    },
                    "rotation": {
                        "roll": -0.00631713168695569,
                        "pitch": 2.036407232284546,
                        "yaw": -174.4332733154297
                    }
                },
                "velocity": {
                    "x": -8.862876892089844,
                    "y": -0.8678475618362427,
                    "z": 0.32062849402427673
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1064.835205078125,
                        "y": 6484.8916015625,
                        "z": 365.9676818847656
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.956941604614258,
                "transform": {
                    "location": {
                        "x": -1097.7452392578125,
                        "y": 6483.501953125,
                        "z": 367.2374267578125
                    },
                    "rotation": {
                        "roll": -0.0036315848119556904,
                        "pitch": 2.140294313430786,
                        "yaw": -176.73196411132812
                    }
                },
                "velocity": {
                    "x": -8.935786247253418,
                    "y": -0.5134157538414001,
                    "z": 0.3390170931816101
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1030.80419921875,
                        "y": 6485.30712890625,
                        "z": 364.6476135253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1013.757080078125,
                        "y": 6485.4365234375,
                        "z": 364.1768798828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -995.2650756835938,
                        "y": 6485.5771484375,
                        "z": 363.8368225097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -975.31982421875,
                        "y": 6485.72802734375,
                        "z": 363.52459716796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -938.9722290039062,
                        "y": 6486.00341796875,
                        "z": 362.9556579589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -892.3609008789062,
                        "y": 6486.35791015625,
                        "z": 362.0657043457031
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -912.8551635742188,
                        "y": 6486.2021484375,
                        "z": 362.4787292480469
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -867.2930908203125,
                        "y": 6486.5478515625,
                        "z": 361.5038146972656
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -847.798095703125,
                        "y": 6486.69482421875,
                        "z": 361.0996398925781
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1229.057373046875,
                        "y": 6470.744140625,
                        "z": 371.5084533691406
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1081.5093994140625,
                        "y": 6484.33251953125,
                        "z": 366.6181640625
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09834985435009003,
        "expert_target_speed": 20.0,
        "target_point": [
            30.50031986808465,
            0.8595966064002414
        ],
        "target_point_next": [
            72.93558280095124,
            1.9759502783281846
        ]
    },
    "1060": {
        "acceleration": [
            0.8361053466796875,
            0.002257823944091797,
            -0.021393895149230957
        ],
        "angular_velocity": [
            -0.0547163225710392,
            -0.28268277645111084,
            -1.986749529838562
        ],
        "forward_vector": [
            -0.9962459802627563,
            -0.08008058369159698,
            0.03287890553474426
        ],
        "right_vector": [
            0.08016429096460342,
            -0.9967808723449707,
            0.0012334410566836596
        ],
        "location": [
            -1157.25244140625,
            6478.44384765625,
            369.4007263183594
        ],
        "rotation": [
            -0.0707092210650444,
            1.884162187576294,
            -175.40431213378906
        ],
        "velocity": [
            -9.062466621398926,
            -0.7346616387367249,
            0.3061901926994324
        ],
        "speed": 9.092196048667285,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 51.47541809082031,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1208.4072265625,
                6472.92529296875,
                370.9666748046875
            ],
            "velocity": [
                -9.56234359741211,
                -1.0087776184082031,
                0.2635155916213989
            ],
            "speed_kmh": 34.62846115866468,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.145638465881348,
                "transform": {
                    "location": {
                        "x": -1119.20361328125,
                        "y": 6482.0234375,
                        "z": 368.0377197265625
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": 2.1227338314056396,
                        "yaw": -175.40480041503906
                    }
                },
                "velocity": {
                    "x": -9.109854698181152,
                    "y": -0.7349455952644348,
                    "z": 0.3362981975078583
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -958.1694946289062,
                        "y": 6485.8583984375,
                        "z": 363.2561950683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1050.2525634765625,
                        "y": 6485.15380859375,
                        "z": 365.3687744140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.619016647338867,
                "transform": {
                    "location": {
                        "x": -1208.4072265625,
                        "y": 6472.92529296875,
                        "z": 370.9666748046875
                    },
                    "rotation": {
                        "roll": -0.006042478606104851,
                        "pitch": 1.5753215551376343,
                        "yaw": -173.97232055664062
                    }
                },
                "velocity": {
                    "x": -9.56234359741211,
                    "y": -1.0087776184082031,
                    "z": 0.2635155916213989
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.85109806060791,
                "transform": {
                    "location": {
                        "x": -1138.322998046875,
                        "y": 6480.29443359375,
                        "z": 368.77386474609375
                    },
                    "rotation": {
                        "roll": -0.012237541377544403,
                        "pitch": 2.0563786029815674,
                        "yaw": -174.38934326171875
                    }
                },
                "velocity": {
                    "x": -8.801207542419434,
                    "y": -0.8827751874923706,
                    "z": 0.318421334028244
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1067.0926513671875,
                        "y": 6484.83349609375,
                        "z": 366.05908203125
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -832.302001953125,
                        "y": 6486.8125,
                        "z": 361.0023498535156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.00632381439209,
                "transform": {
                    "location": {
                        "x": -1100.0030517578125,
                        "y": 6483.36669921875,
                        "z": 367.3229675292969
                    },
                    "rotation": {
                        "roll": 0.005174351390451193,
                        "pitch": 2.1546308994293213,
                        "yaw": -176.5596923828125
                    }
                },
                "velocity": {
                    "x": -8.982649803161621,
                    "y": -0.5569603443145752,
                    "z": 0.34009963274002075
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1033.053955078125,
                        "y": 6485.291015625,
                        "z": 364.71990966796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1016.0012817382812,
                        "y": 6485.41943359375,
                        "z": 364.2311706542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -997.506591796875,
                        "y": 6485.56005859375,
                        "z": 363.8719482421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -977.7257690429688,
                        "y": 6485.7099609375,
                        "z": 363.5622863769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -941.3634643554688,
                        "y": 6485.986328125,
                        "z": 362.9930725097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -894.7517700195312,
                        "y": 6486.33984375,
                        "z": 362.1158447265625
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -915.24609375,
                        "y": 6486.18408203125,
                        "z": 362.52630615234375
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -869.7919921875,
                        "y": 6486.529296875,
                        "z": 361.5633544921875
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -850.297607421875,
                        "y": 6486.67626953125,
                        "z": 361.1399230957031
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1231.542724609375,
                        "y": 6470.48193359375,
                        "z": 371.57037353515625
                    },
                    "rotation": {
                        "roll": -6.6721006497516555e-09,
                        "pitch": 1.4009195566177368,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1083.76708984375,
                        "y": 6484.236328125,
                        "z": 366.7037048339844
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.13741326332092285,
        "expert_target_speed": 20.0,
        "target_point": [
            28.203941484783478,
            0.8209584548851039
        ],
        "target_point_next": [
            70.64061865658094,
            1.8821918500401482
        ]
    },
    "1065": {
        "acceleration": [
            0.742034912109375,
            0.007646083831787109,
            -0.022620558738708496
        ],
        "angular_velocity": [
            0.1416124850511551,
            0.031977228820323944,
            2.8093228340148926
        ],
        "forward_vector": [
            -0.9960861206054688,
            -0.08217457681894302,
            0.03255268558859825
        ],
        "right_vector": [
            0.08225685358047485,
            -0.9966104030609131,
            0.001194060780107975
        ],
        "location": [
            -1159.4920654296875,
            6478.26025390625,
            369.4759826660156
        ],
        "rotation": [
            -0.0684509351849556,
            1.8654611110687256,
            -175.28392028808594
        ],
        "velocity": [
            -8.867217063903809,
            -0.7340226769447327,
            0.29676610231399536
        ],
        "speed": 8.897546164457703,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 51.63197708129883,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1210.7972412109375,
                6472.6728515625,
                371.0319519042969
            ],
            "velocity": [
                -9.558991432189941,
                -1.0094457864761353,
                0.2591332793235779
            ],
            "speed_kmh": 34.6162881714153,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.689468383789062,
                "transform": {
                    "location": {
                        "x": -1121.4171142578125,
                        "y": 6481.84375,
                        "z": 368.11968994140625
                    },
                    "rotation": {
                        "roll": -0.0032958984375,
                        "pitch": 2.074294090270996,
                        "yaw": -175.26988220214844
                    }
                },
                "velocity": {
                    "x": -8.654012680053711,
                    "y": -0.7171017527580261,
                    "z": 0.3173210024833679
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -960.6290893554688,
                        "y": 6485.83935546875,
                        "z": 363.294677734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1052.4927978515625,
                        "y": 6485.12841796875,
                        "z": 365.46099853515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.615635871887207,
                "transform": {
                    "location": {
                        "x": -1210.7972412109375,
                        "y": 6472.6728515625,
                        "z": 371.0319519042969
                    },
                    "rotation": {
                        "roll": -0.005950927268713713,
                        "pitch": 1.5579524040222168,
                        "yaw": -173.9707794189453
                    }
                },
                "velocity": {
                    "x": -9.558991432189941,
                    "y": -1.0094457864761353,
                    "z": 0.2591332793235779
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.693110466003418,
                "transform": {
                    "location": {
                        "x": -1140.5242919921875,
                        "y": 6480.072265625,
                        "z": 368.8535461425781
                    },
                    "rotation": {
                        "roll": -0.007446286268532276,
                        "pitch": 2.060715675354004,
                        "yaw": -174.20443725585938
                    }
                },
                "velocity": {
                    "x": -8.642427444458008,
                    "y": -0.8833984136581421,
                    "z": 0.3134056627750397
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1069.3089599609375,
                        "y": 6484.77099609375,
                        "z": 366.1474914550781
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -834.8006591796875,
                        "y": 6486.79345703125,
                        "z": 360.945068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.486221313476562,
                "transform": {
                    "location": {
                        "x": -1102.18017578125,
                        "y": 6483.23193359375,
                        "z": 367.4051818847656
                    },
                    "rotation": {
                        "roll": -0.0018920879811048508,
                        "pitch": 2.1986582279205322,
                        "yaw": -176.45558166503906
                    }
                },
                "velocity": {
                    "x": -8.463699340820312,
                    "y": -0.5281765460968018,
                    "z": 0.32058364152908325
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1035.3070068359375,
                        "y": 6485.2734375,
                        "z": 364.7967529296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1018.2637939453125,
                        "y": 6485.40283203125,
                        "z": 364.285888671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -999.8175048828125,
                        "y": 6485.54248046875,
                        "z": 363.9087829589844
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -980.1453857421875,
                        "y": 6485.6904296875,
                        "z": 363.60015869140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -943.8231201171875,
                        "y": 6485.9677734375,
                        "z": 363.0315856933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -897.2510986328125,
                        "y": 6486.3203125,
                        "z": 362.1671142578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -917.745361328125,
                        "y": 6486.1650390625,
                        "z": 362.5760192871094
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -872.291259765625,
                        "y": 6486.509765625,
                        "z": 361.6215515136719
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -852.796875,
                        "y": 6486.6572265625,
                        "z": 361.18499755859375
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1234.028076171875,
                        "y": 6470.2197265625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1085.9613037109375,
                        "y": 6484.134765625,
                        "z": 366.7868957519531
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17235931754112244,
        "expert_target_speed": 20.0,
        "target_point": [
            25.95846783196798,
            0.7628665057793151
        ],
        "target_point_next": [
            68.39728093757982,
            1.7349405200890997
        ]
    },
    "1070": {
        "acceleration": [
            0.7013893127441406,
            0.0010085105895996094,
            -0.05748152732849121
        ],
        "angular_velocity": [
            -0.10017704218626022,
            -0.12786240875720978,
            -2.1058642864227295
        ],
        "forward_vector": [
            -0.9959889650344849,
            -0.08338310569524765,
            0.03245462849736214
        ],
        "right_vector": [
            0.08346404135227203,
            -0.9965101480484009,
            0.0011445555137470365
        ],
        "location": [
            -1161.685791015625,
            6478.07666015625,
            369.5491638183594
        ],
        "rotation": [
            -0.0656127780675888,
            1.859839916229248,
            -175.21441650390625
        ],
        "velocity": [
            -8.691338539123535,
            -0.734234094619751,
            0.28682348132133484
        ],
        "speed": 8.722297020129279,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 51.83418655395508,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1213.187255859375,
                6472.4208984375,
                371.0965576171875
            ],
            "velocity": [
                -9.563333511352539,
                -1.0091418027877808,
                0.25689366459846497
            ],
            "speed_kmh": 34.63149655437871,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.483438968658447,
                "transform": {
                    "location": {
                        "x": -1123.4642333984375,
                        "y": 6481.6728515625,
                        "z": 368.1945495605469
                    },
                    "rotation": {
                        "roll": -0.00305175525136292,
                        "pitch": 2.047950029373169,
                        "yaw": -175.20529174804688
                    }
                },
                "velocity": {
                    "x": -7.451626300811768,
                    "y": -0.634204626083374,
                    "z": 0.27001890540122986
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -962.9905395507812,
                        "y": 6485.822265625,
                        "z": 363.3316650390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1054.630126953125,
                        "y": 6485.0986328125,
                        "z": 365.54888916015625
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.61985969543457,
                "transform": {
                    "location": {
                        "x": -1213.187255859375,
                        "y": 6472.4208984375,
                        "z": 371.0965576171875
                    },
                    "rotation": {
                        "roll": -0.004852290730923414,
                        "pitch": 1.5387458801269531,
                        "yaw": -173.97584533691406
                    }
                },
                "velocity": {
                    "x": -9.563333511352539,
                    "y": -1.0091418027877808,
                    "z": 0.25689366459846497
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.397507667541504,
                "transform": {
                    "location": {
                        "x": -1142.628173828125,
                        "y": 6479.857421875,
                        "z": 368.9298095703125
                    },
                    "rotation": {
                        "roll": -0.0081787109375,
                        "pitch": 2.04109263420105,
                        "yaw": -174.16830444335938
                    }
                },
                "velocity": {
                    "x": -8.348365783691406,
                    "y": -0.8555870056152344,
                    "z": 0.30149078369140625
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1071.445068359375,
                        "y": 6484.7041015625,
                        "z": 366.2317810058594
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -837.30029296875,
                        "y": 6486.775390625,
                        "z": 360.96734619140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.846173286437988,
                "transform": {
                    "location": {
                        "x": -1104.3280029296875,
                        "y": 6483.09619140625,
                        "z": 367.4870300292969
                    },
                    "rotation": {
                        "roll": 0.00578158488497138,
                        "pitch": 2.1381497383117676,
                        "yaw": -176.3528289794922
                    }
                },
                "velocity": {
                    "x": -8.820260047912598,
                    "y": -0.5885234475135803,
                    "z": 0.333819717168808
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1037.4603271484375,
                        "y": 6485.25732421875,
                        "z": 364.8719787597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1020.4347534179688,
                        "y": 6485.38623046875,
                        "z": 364.3435363769531
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1002.0148315429688,
                        "y": 6485.525390625,
                        "z": 363.9447326660156
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -982.4305419921875,
                        "y": 6485.6748046875,
                        "z": 363.63592529296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -946.1845092773438,
                        "y": 6485.94873046875,
                        "z": 363.06854248046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -899.6220092773438,
                        "y": 6486.30224609375,
                        "z": 362.21514892578125
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -920.0665283203125,
                        "y": 6486.14697265625,
                        "z": 362.62213134765625
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -874.7905883789062,
                        "y": 6486.49072265625,
                        "z": 361.67962646484375
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -855.296142578125,
                        "y": 6486.63916015625,
                        "z": 361.2321472167969
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1236.513427734375,
                        "y": 6469.95751953125,
                        "z": 371.6914367675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.366727590560913,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1088.1007080078125,
                        "y": 6484.03662109375,
                        "z": 366.8680725097656
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.21420340240001678,
        "expert_target_speed": 20.0,
        "target_point": [
            23.75797979825454,
            0.7314266095053807
        ],
        "target_point_next": [
            66.1979413146268,
            1.651998274933523
        ]
    },
    "1075": {
        "acceleration": [
            1.1370277404785156,
            0.016145706176757812,
            -0.06721794605255127
        ],
        "angular_velocity": [
            0.11054953932762146,
            -0.20691707730293274,
            3.082392454147339
        ],
        "forward_vector": [
            -0.9958223104476929,
            -0.08566316217184067,
            0.03161892294883728
        ],
        "right_vector": [
            0.08574119955301285,
            -0.9963168501853943,
            0.0011179678840562701
        ],
        "location": [
            -1163.830322265625,
            6477.8935546875,
            369.6201477050781
        ],
        "rotation": [
            -0.0640868991613388,
            1.811932921409607,
            -175.0833740234375
        ],
        "velocity": [
            -8.456772804260254,
            -0.7325958609580994,
            0.27861130237579346
        ],
        "speed": 8.488445261552245,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 52.08558654785156,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1215.577392578125,
                6472.16845703125,
                371.16033935546875
            ],
            "velocity": [
                -9.559380531311035,
                -1.0093810558319092,
                0.2541513442993164
            ],
            "speed_kmh": 34.617177544776894,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.4199066162109375,
                "transform": {
                    "location": {
                        "x": -1125.291015625,
                        "y": 6481.51611328125,
                        "z": 368.26080322265625
                    },
                    "rotation": {
                        "roll": -0.005218490492552519,
                        "pitch": 2.05450701713562,
                        "yaw": -175.08599853515625
                    }
                },
                "velocity": {
                    "x": -7.386788368225098,
                    "y": -0.6468456983566284,
                    "z": 0.26825013756752014
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -965.4501342773438,
                        "y": 6485.80322265625,
                        "z": 363.3701171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1056.8104248046875,
                        "y": 6485.06298828125,
                        "z": 365.638671875
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.615882873535156,
                "transform": {
                    "location": {
                        "x": -1215.577392578125,
                        "y": 6472.16845703125,
                        "z": 371.16033935546875
                    },
                    "rotation": {
                        "roll": -0.004272456280887127,
                        "pitch": 1.5286235809326172,
                        "yaw": -173.97103881835938
                    }
                },
                "velocity": {
                    "x": -9.559380531311035,
                    "y": -1.0093810558319092,
                    "z": 0.2541513442993164
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.007291793823242,
                "transform": {
                    "location": {
                        "x": -1144.7996826171875,
                        "y": 6479.6328125,
                        "z": 369.0067443847656
                    },
                    "rotation": {
                        "roll": -0.0076599097810685635,
                        "pitch": 2.073535919189453,
                        "yaw": -174.0674285888672
                    }
                },
                "velocity": {
                    "x": -8.953157424926758,
                    "y": -0.9333450198173523,
                    "z": 0.3180444538593292
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1073.6141357421875,
                        "y": 6484.63623046875,
                        "z": 366.3170166015625
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -839.7999267578125,
                        "y": 6486.75634765625,
                        "z": 360.99066162109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.13568115234375,
                "transform": {
                    "location": {
                        "x": -1106.4544677734375,
                        "y": 6482.9541015625,
                        "z": 367.567138671875
                    },
                    "rotation": {
                        "roll": -0.0003662063099909574,
                        "pitch": 2.204190731048584,
                        "yaw": -176.19158935546875
                    }
                },
                "velocity": {
                    "x": -8.111336708068848,
                    "y": -0.5481821894645691,
                    "z": 0.30823320150375366
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1039.6319580078125,
                        "y": 6485.24072265625,
                        "z": 364.9508056640625
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1022.5946655273438,
                        "y": 6485.36962890625,
                        "z": 364.40142822265625
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1004.25,
                        "y": 6485.5087890625,
                        "z": 363.9830322265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -984.89013671875,
                        "y": 6485.6552734375,
                        "z": 363.6744079589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -948.6841430664062,
                        "y": 6485.93115234375,
                        "z": 363.10760498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -902.071533203125,
                        "y": 6486.2841796875,
                        "z": 362.26416015625
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -922.5658569335938,
                        "y": 6486.12841796875,
                        "z": 362.67181396484375
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -877.289794921875,
                        "y": 6486.4716796875,
                        "z": 361.7364807128906
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -857.7954711914062,
                        "y": 6486.619140625,
                        "z": 361.2840881347656
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1238.998779296875,
                        "y": 6469.6943359375,
                        "z": 371.7508850097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1090.249267578125,
                        "y": 6483.9267578125,
                        "z": 366.94940185546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.24192209541797638,
        "expert_target_speed": 20.0,
        "target_point": [
            21.60725675449799,
            0.6784595598648602
        ],
        "target_point_next": [
            64.04921255486899,
            1.5019724873295894
        ]
    },
    "1080": {
        "acceleration": [
            1.0931015014648438,
            0.008635520935058594,
            -0.04573702812194824
        ],
        "angular_velocity": [
            -0.07476057857275009,
            -0.05067087709903717,
            -2.071132183074951
        ],
        "forward_vector": [
            -0.9956532120704651,
            -0.0877632275223732,
            0.03118402510881424
        ],
        "right_vector": [
            0.08784119039773941,
            -0.9961338639259338,
            0.0011366164544597268
        ],
        "location": [
            -1165.9053955078125,
            6477.7109375,
            369.6882019042969
        ],
        "rotation": [
            -0.0651550218462944,
            1.7870028018951416,
            -174.9626007080078
        ],
        "velocity": [
            -8.162196159362793,
            -0.7301135659217834,
            0.26724064350128174
        ],
        "speed": 8.19478565693208,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 52.40614700317383,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1217.967529296875,
                6471.916015625,
                371.2235412597656
            ],
            "velocity": [
                -9.563045501708984,
                -1.0103062391281128,
                0.25105565786361694
            ],
            "speed_kmh": 34.63035094143115,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.095515251159668,
                "transform": {
                    "location": {
                        "x": -1127.232177734375,
                        "y": 6481.34619140625,
                        "z": 368.3307800292969
                    },
                    "rotation": {
                        "roll": -0.0017089882167056203,
                        "pitch": 2.0875790119171143,
                        "yaw": -174.94644165039062
                    }
                },
                "velocity": {
                    "x": -8.058568954467773,
                    "y": -0.7154974341392517,
                    "z": 0.29136085510253906
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -967.8518676757812,
                        "y": 6485.78564453125,
                        "z": 363.40771484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1058.8626708984375,
                        "y": 6485.02880859375,
                        "z": 365.7231140136719
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.619542121887207,
                "transform": {
                    "location": {
                        "x": -1217.967529296875,
                        "y": 6471.916015625,
                        "z": 371.2235412597656
                    },
                    "rotation": {
                        "roll": -0.001525884261354804,
                        "pitch": 1.5021018981933594,
                        "yaw": -173.97023010253906
                    }
                },
                "velocity": {
                    "x": -9.563045501708984,
                    "y": -1.0103062391281128,
                    "z": 0.25105565786361694
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.175522804260254,
                "transform": {
                    "location": {
                        "x": -1146.93603515625,
                        "y": 6479.41064453125,
                        "z": 369.08319091796875
                    },
                    "rotation": {
                        "roll": -0.004089337773621082,
                        "pitch": 1.9591234922409058,
                        "yaw": -174.06072998046875
                    }
                },
                "velocity": {
                    "x": -8.126514434814453,
                    "y": -0.8471333384513855,
                    "z": 0.2851492166519165
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1075.6531982421875,
                        "y": 6484.5615234375,
                        "z": 366.3951721191406
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -842.2994995117188,
                        "y": 6486.7373046875,
                        "z": 361.02191162109375
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.401545524597168,
                "transform": {
                    "location": {
                        "x": -1108.4932861328125,
                        "y": 6482.81591796875,
                        "z": 367.6448669433594
                    },
                    "rotation": {
                        "roll": 0.0019404171034693718,
                        "pitch": 2.1534833908081055,
                        "yaw": -176.11056518554688
                    }
                },
                "velocity": {
                    "x": -8.374425888061523,
                    "y": -0.5948478579521179,
                    "z": 0.31798696517944336
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1041.7156982421875,
                        "y": 6485.22509765625,
                        "z": 365.0289611816406
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1024.7105712890625,
                        "y": 6485.35400390625,
                        "z": 364.4610595703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1006.4016723632812,
                        "y": 6485.4921875,
                        "z": 364.02362060546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -987.0865478515625,
                        "y": 6485.63916015625,
                        "z": 363.7087707519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -951.0458984375,
                        "y": 6485.91259765625,
                        "z": 363.14459228515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -904.4909057617188,
                        "y": 6486.2646484375,
                        "z": 362.3125
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -924.9273071289062,
                        "y": 6486.1103515625,
                        "z": 362.7175598144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -879.7890625,
                        "y": 6486.45361328125,
                        "z": 361.79315185546875
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -860.2947387695312,
                        "y": 6486.60009765625,
                        "z": 361.33807373046875
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1241.484130859375,
                        "y": 6469.431640625,
                        "z": 371.8100280761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3537980318069458,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1092.2828369140625,
                        "y": 6483.82177734375,
                        "z": 367.0265197753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.27089521288871765,
        "expert_target_speed": 20.0,
        "target_point": [
            19.52554564815842,
            0.6331999780902837
        ],
        "target_point_next": [
            61.96914318489234,
            1.3672393790094812
        ]
    },
    "1085": {
        "acceleration": [
            0.7496738433837891,
            -0.012947320938110352,
            -0.04333198070526123
        ],
        "angular_velocity": [
            0.12173594534397125,
            -0.037526533007621765,
            3.320934772491455
        ],
        "forward_vector": [
            -0.9953802824020386,
            -0.09083524346351624,
            0.03109847381711006
        ],
        "right_vector": [
            0.09091131389141083,
            -0.9958584904670715,
            0.00103813037276268
        ],
        "location": [
            -1167.9156494140625,
            6477.529296875,
            369.7536315917969
        ],
        "rotation": [
            -0.0595092810690403,
            1.782098650932312,
            -174.7858123779297
        ],
        "velocity": [
            -7.942551136016846,
            -0.7317129969596863,
            0.25678694248199463
        ],
        "speed": 7.976184705619737,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 52.79153060913086,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1220.35791015625,
                6471.66357421875,
                371.2860412597656
            ],
            "velocity": [
                -9.5604829788208,
                -1.0113437175750732,
                0.2487194538116455
            ],
            "speed_kmh": 34.62135408993362,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.302553176879883,
                "transform": {
                    "location": {
                        "x": -1129.375732421875,
                        "y": 6481.15380859375,
                        "z": 368.40814208984375
                    },
                    "rotation": {
                        "roll": -0.005645750090479851,
                        "pitch": 2.1116552352905273,
                        "yaw": -174.84698486328125
                    }
                },
                "velocity": {
                    "x": -9.257657051086426,
                    "y": -0.8490851521492004,
                    "z": 0.33515098690986633
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -970.3115234375,
                        "y": 6485.765625,
                        "z": 363.44622802734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1060.9566650390625,
                        "y": 6484.9833984375,
                        "z": 365.809326171875
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.617042541503906,
                "transform": {
                    "location": {
                        "x": -1220.35791015625,
                        "y": 6471.66357421875,
                        "z": 371.2860412597656
                    },
                    "rotation": {
                        "roll": -0.0038757314905524254,
                        "pitch": 1.4955859184265137,
                        "yaw": -173.96621704101562
                    }
                },
                "velocity": {
                    "x": -9.5604829788208,
                    "y": -1.0113437175750732,
                    "z": 0.2487194538116455
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.347484588623047,
                "transform": {
                    "location": {
                        "x": -1148.959228515625,
                        "y": 6479.19921875,
                        "z": 369.1539001464844
                    },
                    "rotation": {
                        "roll": -0.0026550351176410913,
                        "pitch": 2.0099196434020996,
                        "yaw": -174.01202392578125
                    }
                },
                "velocity": {
                    "x": -8.296910285949707,
                    "y": -0.8710277080535889,
                    "z": 0.2882460057735443
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1077.7657470703125,
                        "y": 6484.4853515625,
                        "z": 366.4762268066406
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -844.7991333007812,
                        "y": 6486.71728515625,
                        "z": 361.0538330078125
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.478252410888672,
                "transform": {
                    "location": {
                        "x": -1110.62255859375,
                        "y": 6482.6640625,
                        "z": 367.7258605957031
                    },
                    "rotation": {
                        "roll": 0.0013353737303987145,
                        "pitch": 2.1486408710479736,
                        "yaw": -175.93106079101562
                    }
                },
                "velocity": {
                    "x": -8.45011043548584,
                    "y": -0.6112456917762756,
                    "z": 0.3206034004688263
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1043.7821044921875,
                        "y": 6485.20947265625,
                        "z": 365.107177734375
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1026.7603759765625,
                        "y": 6485.33837890625,
                        "z": 364.5216979980469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1008.4384155273438,
                        "y": 6485.47802734375,
                        "z": 364.06207275390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -989.4693603515625,
                        "y": 6485.62109375,
                        "z": 363.74603271484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -953.5455322265625,
                        "y": 6485.8935546875,
                        "z": 363.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -906.9323120117188,
                        "y": 6486.24755859375,
                        "z": 362.3609924316406
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -927.426513671875,
                        "y": 6486.09228515625,
                        "z": 362.7652893066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -882.288330078125,
                        "y": 6486.43408203125,
                        "z": 361.8485107421875
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -862.7940673828125,
                        "y": 6486.5810546875,
                        "z": 361.3967590332031
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1243.969482421875,
                        "y": 6469.16943359375,
                        "z": 371.8690490722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1094.4112548828125,
                        "y": 6483.70654296875,
                        "z": 367.1070861816406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2975417673587799,
        "expert_target_speed": 20.0,
        "target_point": [
            17.508963827278684,
            0.5747502583781252
        ],
        "target_point_next": [
            59.95462426934094,
            1.1778218457530532
        ]
    },
    "1090": {
        "acceleration": [
            0.5716037750244141,
            -0.029659271240234375,
            -0.059578120708465576
        ],
        "angular_velocity": [
            -0.05307718366384506,
            0.0052716853097081184,
            -2.187438726425171
        ],
        "forward_vector": [
            -0.9951937794685364,
            -0.09290894120931625,
            0.03093869239091873
        ],
        "right_vector": [
            0.09298235177993774,
            -0.9956673383712769,
            0.0009391127969138324
        ],
        "location": [
            -1169.879638671875,
            6477.34619140625,
            369.8169860839844
        ],
        "rotation": [
            -0.05383298173546791,
            1.7729394435882568,
            -174.6664581298828
        ],
        "velocity": [
            -7.782680034637451,
            -0.7376373410224915,
            0.24942700564861298
        ],
        "speed": 7.8175582740658305,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 53.22276306152344,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1222.748291015625,
                6471.4111328125,
                371.34765625
            ],
            "velocity": [
                -9.563545227050781,
                -1.0095796585083008,
                0.24757634103298187
            ],
            "speed_kmh": 34.631540162689994,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.870208740234375,
                "transform": {
                    "location": {
                        "x": -1131.6441650390625,
                        "y": 6480.9453125,
                        "z": 368.49072265625
                    },
                    "rotation": {
                        "roll": -0.0015258893836289644,
                        "pitch": 2.06365966796875,
                        "yaw": -174.66461181640625
                    }
                },
                "velocity": {
                    "x": -8.82611083984375,
                    "y": -0.8238305449485779,
                    "z": 0.3188821077346802
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -972.6053466796875,
                        "y": 6485.74853515625,
                        "z": 363.482177734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1063.0865478515625,
                        "y": 6484.9384765625,
                        "z": 365.89697265625
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.619872093200684,
                "transform": {
                    "location": {
                        "x": -1222.748291015625,
                        "y": 6471.4111328125,
                        "z": 371.34765625
                    },
                    "rotation": {
                        "roll": 1.148969113273779e-05,
                        "pitch": 1.4674524068832397,
                        "yaw": -173.96759033203125
                    }
                },
                "velocity": {
                    "x": -9.563545227050781,
                    "y": -1.0095796585083008,
                    "z": 0.24757634103298187
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.884506225585938,
                "transform": {
                    "location": {
                        "x": -1151.14111328125,
                        "y": 6478.9697265625,
                        "z": 369.2293701171875
                    },
                    "rotation": {
                        "roll": -0.0017089932225644588,
                        "pitch": 2.0236756801605225,
                        "yaw": -174.02029418945312
                    }
                },
                "velocity": {
                    "x": -8.830876350402832,
                    "y": -0.9255744218826294,
                    "z": 0.3055943548679352
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1079.898681640625,
                        "y": 6484.39990234375,
                        "z": 366.55718994140625
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -847.2986450195312,
                        "y": 6486.69873046875,
                        "z": 361.0920104980469
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.891079902648926,
                "transform": {
                    "location": {
                        "x": -1112.7705078125,
                        "y": 6482.5087890625,
                        "z": 367.8074951171875
                    },
                    "rotation": {
                        "roll": -0.0029602060094475746,
                        "pitch": 2.127480983734131,
                        "yaw": -175.8655242919922
                    }
                },
                "velocity": {
                    "x": -8.861449241638184,
                    "y": -0.6426152586936951,
                    "z": 0.33625632524490356
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1045.9190673828125,
                        "y": 6485.1923828125,
                        "z": 365.1930236816406
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1028.895751953125,
                        "y": 6485.322265625,
                        "z": 364.5855407714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1010.6866455078125,
                        "y": 6485.46044921875,
                        "z": 364.1099548339844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -991.700439453125,
                        "y": 6485.60400390625,
                        "z": 363.781005859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -955.7993774414062,
                        "y": 6485.8759765625,
                        "z": 363.2190246582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -909.2260131835938,
                        "y": 6486.22998046875,
                        "z": 362.40667724609375
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -929.7202758789062,
                        "y": 6486.07421875,
                        "z": 362.8065185546875
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -884.7876586914062,
                        "y": 6486.41552734375,
                        "z": 361.90386962890625
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -865.2930908203125,
                        "y": 6486.5615234375,
                        "z": 361.45611572265625
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33548,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1246.454833984375,
                        "y": 6468.9072265625,
                        "z": 371.9280700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3464828729629517,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1096.549560546875,
                        "y": 6483.5859375,
                        "z": 367.188232421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.30982503294944763,
        "expert_target_speed": 20.0,
        "target_point": [
            15.537616844752515,
            0.5385201098338399
        ],
        "target_point_next": [
            57.984441555741164,
            1.0531633425213904
        ]
    },
    "1095": {
        "acceleration": [
            0.47165870666503906,
            -0.043201446533203125,
            -0.019485652446746826
        ],
        "angular_velocity": [
            0.01566002145409584,
            0.0906747356057167,
            3.4295010566711426
        ],
        "forward_vector": [
            -0.9948946237564087,
            -0.09595627337694168,
            0.03125694766640663
        ],
        "right_vector": [
            0.09602955728769302,
            -0.9953780770301819,
            0.0008486003498546779
        ],
        "location": [
            -1171.80859375,
            6477.1611328125,
            369.8785705566406
        ],
        "rotation": [
            -0.04864499345421791,
            1.7911828756332397,
            -174.49093627929688
        ],
        "velocity": [
            -7.656229496002197,
            -0.7468858361244202,
            0.24538765847682953
        ],
        "speed": 7.6925735971557225,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 53.68861770629883,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1225.138671875,
                6471.15869140625,
                371.4086608886719
            ],
            "velocity": [
                -9.560408592224121,
                -1.0101664066314697,
                0.24340523779392242
            ],
            "speed_kmh": 34.620152912569864,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.799337387084961,
                "transform": {
                    "location": {
                        "x": -1133.844970703125,
                        "y": 6480.73876953125,
                        "z": 368.5703430175781
                    },
                    "rotation": {
                        "roll": -0.004638662561774254,
                        "pitch": 2.0603127479553223,
                        "yaw": -174.5591278076172
                    }
                },
                "velocity": {
                    "x": -8.753572463989258,
                    "y": -0.8384241461753845,
                    "z": 0.3167935609817505
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -975.0650024414062,
                        "y": 6485.72998046875,
                        "z": 363.5206604003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1065.3013916015625,
                        "y": 6484.88134765625,
                        "z": 365.9866638183594
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.61670970916748,
                "transform": {
                    "location": {
                        "x": -1225.138671875,
                        "y": 6471.15869140625,
                        "z": 371.4086608886719
                    },
                    "rotation": {
                        "roll": -0.00015257488121278584,
                        "pitch": 1.4602738618850708,
                        "yaw": -173.96865844726562
                    }
                },
                "velocity": {
                    "x": -9.560408592224121,
                    "y": -1.0101664066314697,
                    "z": 0.24340523779392242
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.316856384277344,
                "transform": {
                    "location": {
                        "x": -1153.2520751953125,
                        "y": 6478.74853515625,
                        "z": 369.3029479980469
                    },
                    "rotation": {
                        "roll": -0.0022277773823589087,
                        "pitch": 1.9342548847198486,
                        "yaw": -173.99017333984375
                    }
                },
                "velocity": {
                    "x": -8.2661714553833,
                    "y": -0.8715482950210571,
                    "z": 0.2844557464122772
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1082.1346435546875,
                        "y": 6484.30712890625,
                        "z": 366.6419982910156
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -849.7980346679688,
                        "y": 6486.6796875,
                        "z": 361.13092041015625
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.875856399536133,
                "transform": {
                    "location": {
                        "x": -1115.0211181640625,
                        "y": 6482.34033203125,
                        "z": 367.892333984375
                    },
                    "rotation": {
                        "roll": 0.004762661177664995,
                        "pitch": 2.1288673877716064,
                        "yaw": -175.69281005859375
                    }
                },
                "velocity": {
                    "x": -8.843356132507324,
                    "y": -0.6822483539581299,
                    "z": 0.3322978913784027
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1048.1031494140625,
                        "y": 6485.17626953125,
                        "z": 365.28082275390625
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1031.0577392578125,
                        "y": 6485.3056640625,
                        "z": 364.6553039550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1012.8284912109375,
                        "y": 6485.4443359375,
                        "z": 364.15618896484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -994.0520629882812,
                        "y": 6485.5859375,
                        "z": 363.81787109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -958.2589721679688,
                        "y": 6485.85791015625,
                        "z": 363.2575988769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -911.6853637695312,
                        "y": 6486.2109375,
                        "z": 362.4555358886719
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -932.139892578125,
                        "y": 6486.0556640625,
                        "z": 362.84722900390625
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -887.2869262695312,
                        "y": 6486.39599609375,
                        "z": 361.9577941894531
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -867.7919921875,
                        "y": 6486.54345703125,
                        "z": 361.5157470703125
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -831.302490234375,
                        "y": 6486.81982421875,
                        "z": 361.0330505371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1098.801513671875,
                        "y": 6483.45556640625,
                        "z": 367.2735900878906
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3357497751712799,
        "expert_target_speed": 20.0,
        "target_point": [
            13.601382041133594,
            0.4919049989431237
        ],
        "target_point_next": [
            56.04958406229482,
            0.8765228261837672
        ]
    },
    "1100": {
        "acceleration": [
            0.35416603088378906,
            -0.0514531135559082,
            -0.017854273319244385
        ],
        "angular_velocity": [
            -0.06350202858448029,
            -0.08065883815288544,
            -2.1825103759765625
        ],
        "forward_vector": [
            -0.99466872215271,
            -0.09824978560209274,
            0.03132200241088867
        ],
        "right_vector": [
            0.09832244366407394,
            -0.9951542615890503,
            0.0007841821643523872
        ],
        "location": [
            -1173.7093505859375,
            6476.9736328125,
            369.93890380859375
        ],
        "rotation": [
            -0.0449523888528347,
            1.7949120998382568,
            -174.35882568359375
        ],
        "velocity": [
            -7.5573554039001465,
            -0.7590795755386353,
            0.23895981907844543
        ],
        "speed": 7.59538165616835,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 54.1824836730957,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1227.529296875,
                6470.90625,
                371.46917724609375
            ],
            "velocity": [
                -9.564532279968262,
                -1.0099332332611084,
                0.2390897572040558
            ],
            "speed_kmh": 34.634433615945156,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.373615264892578,
                "transform": {
                    "location": {
                        "x": -1135.9569091796875,
                        "y": 6480.53466796875,
                        "z": 368.6468200683594
                    },
                    "rotation": {
                        "roll": -0.000885012443177402,
                        "pitch": 2.0558321475982666,
                        "yaw": -174.38966369628906
                    }
                },
                "velocity": {
                    "x": -8.328207969665527,
                    "y": -0.8168080449104309,
                    "z": 0.3020182251930237
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -977.428955078125,
                        "y": 6485.7119140625,
                        "z": 363.5576477050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1067.5162353515625,
                        "y": 6484.82275390625,
                        "z": 366.0762939453125
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.620676040649414,
                "transform": {
                    "location": {
                        "x": -1227.529296875,
                        "y": 6470.90625,
                        "z": 371.46917724609375
                    },
                    "rotation": {
                        "roll": -0.0005493308999575675,
                        "pitch": 1.4436355829238892,
                        "yaw": -173.97288513183594
                    }
                },
                "velocity": {
                    "x": -9.564532279968262,
                    "y": -1.0099332332611084,
                    "z": 0.2390897572040558
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.49072265625,
                "transform": {
                    "location": {
                        "x": -1155.364013671875,
                        "y": 6478.52587890625,
                        "z": 369.3750305175781
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": 1.9684877395629883,
                        "yaw": -174.0066375732422
                    }
                },
                "velocity": {
                    "x": -8.439264297485352,
                    "y": -0.8884036540985107,
                    "z": 0.2862352132797241
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1084.3209228515625,
                        "y": 6484.2109375,
                        "z": 366.7247619628906
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -852.2972412109375,
                        "y": 6486.66162109375,
                        "z": 361.17596435546875
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.036643981933594,
                "transform": {
                    "location": {
                        "x": -1117.152099609375,
                        "y": 6482.17626953125,
                        "z": 367.9718017578125
                    },
                    "rotation": {
                        "roll": -0.001434315461665392,
                        "pitch": 2.1852848529815674,
                        "yaw": -175.5905303955078
                    }
                },
                "velocity": {
                    "x": -8.006850242614746,
                    "y": -0.6223916411399841,
                    "z": 0.3010336756706238
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1050.3472900390625,
                        "y": 6485.15283203125,
                        "z": 365.37255859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1033.3121337890625,
                        "y": 6485.2890625,
                        "z": 364.7281188964844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1015.138671875,
                        "y": 6485.4248046875,
                        "z": 364.21026611328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -996.3701171875,
                        "y": 6485.56884765625,
                        "z": 363.8541259765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -960.6629638671875,
                        "y": 6485.83935546875,
                        "z": 363.2951965332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -914.104736328125,
                        "y": 6486.19287109375,
                        "z": 362.5036315917969
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -934.5438842773438,
                        "y": 6486.03759765625,
                        "z": 362.88616943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -889.7862548828125,
                        "y": 6486.37744140625,
                        "z": 362.0116271972656
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -870.291015625,
                        "y": 6486.525390625,
                        "z": 361.5749816894531
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -833.8010864257812,
                        "y": 6486.8017578125,
                        "z": 360.95623779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1100.9539794921875,
                        "y": 6483.32421875,
                        "z": 367.355224609375
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.33595743775367737,
        "expert_target_speed": 20.0,
        "target_point": [
            11.69249781047763,
            0.4607884748821671
        ],
        "target_point_next": [
            54.141473893123646,
            0.7475204704704232
        ]
    },
    "1105": {
        "acceleration": [
            0.18535614013671875,
            -0.06699919700622559,
            -0.006517767906188965
        ],
        "angular_velocity": [
            0.09296298027038574,
            -0.015447652898728848,
            3.4573233127593994
        ],
        "forward_vector": [
            -0.9943519234657288,
            -0.10151159763336182,
            0.03097717836499214
        ],
        "right_vector": [
            0.10158101469278336,
            -0.9948270320892334,
            0.000671326881274581
        ],
        "location": [
            -1175.588623046875,
            6476.783203125,
            369.9981994628906
        ],
        "rotation": [
            -0.0384826697409153,
            1.7751455307006836,
            -174.1709747314453
        ],
        "velocity": [
            -7.488498210906982,
            -0.7734830975532532,
            0.23570020496845245
        ],
        "speed": 7.528338565510829,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 54.6971321105957,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1229.919677734375,
                6470.65380859375,
                371.5289306640625
            ],
            "velocity": [
                -9.561344146728516,
                -1.0082424879074097,
                0.23678597807884216
            ],
            "speed_kmh": 34.62217951518895,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.651139259338379,
                "transform": {
                    "location": {
                        "x": -1138.0662841796875,
                        "y": 6480.3271484375,
                        "z": 368.72308349609375
                    },
                    "rotation": {
                        "roll": -0.0030517554841935635,
                        "pitch": 2.0725457668304443,
                        "yaw": -174.30960083007812
                    }
                },
                "velocity": {
                    "x": -8.602609634399414,
                    "y": -0.8603475689888,
                    "z": 0.31164637207984924
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -979.8164672851562,
                        "y": 6485.6943359375,
                        "z": 363.59503173828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1069.474853515625,
                        "y": 6484.7666015625,
                        "z": 366.1544189453125
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.61727237701416,
                "transform": {
                    "location": {
                        "x": -1229.919677734375,
                        "y": 6470.65380859375,
                        "z": 371.5289306640625
                    },
                    "rotation": {
                        "roll": 0.00019244488794356585,
                        "pitch": 1.4189443588256836,
                        "yaw": -173.97503662109375
                    }
                },
                "velocity": {
                    "x": -9.561344146728516,
                    "y": -1.0082424879074097,
                    "z": 0.23678597807884216
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.345632076263428,
                "transform": {
                    "location": {
                        "x": -1157.3319091796875,
                        "y": 6478.31884765625,
                        "z": 369.44281005859375
                    },
                    "rotation": {
                        "roll": -0.0007324333419092,
                        "pitch": 1.8355722427368164,
                        "yaw": -173.96795654296875
                    }
                },
                "velocity": {
                    "x": -7.300795078277588,
                    "y": -0.7717820405960083,
                    "z": 0.2470923811197281
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1086.185791015625,
                        "y": 6484.12353515625,
                        "z": 366.79547119140625
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -854.7965698242188,
                        "y": 6486.64306640625,
                        "z": 361.22174072265625
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.5152740478515625,
                "transform": {
                    "location": {
                        "x": -1118.8695068359375,
                        "y": 6482.04052734375,
                        "z": 368.0352783203125
                    },
                    "rotation": {
                        "roll": 0.0045503173023462296,
                        "pitch": 2.2449464797973633,
                        "yaw": -175.45358276367188
                    }
                },
                "velocity": {
                    "x": -6.489040851593018,
                    "y": -0.5330867171287537,
                    "z": 0.23867543041706085
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1052.3912353515625,
                        "y": 6485.12939453125,
                        "z": 365.4567565917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1035.4263916015625,
                        "y": 6485.27294921875,
                        "z": 364.8012390136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1017.2953491210938,
                        "y": 6485.4091796875,
                        "z": 364.262451171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -998.632568359375,
                        "y": 6485.5517578125,
                        "z": 363.8895568847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -963.0825805664062,
                        "y": 6485.822265625,
                        "z": 363.33306884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -916.5084228515625,
                        "y": 6486.17431640625,
                        "z": 362.5513916015625
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -937.0034790039062,
                        "y": 6486.0185546875,
                        "z": 362.92474365234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -892.2854614257812,
                        "y": 6486.35791015625,
                        "z": 362.0640869140625
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -872.790283203125,
                        "y": 6486.50537109375,
                        "z": 361.6332092285156
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -836.300537109375,
                        "y": 6486.7822265625,
                        "z": 360.95843505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1102.7257080078125,
                        "y": 6483.21533203125,
                        "z": 367.4224853515625
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3353474736213684,
        "expert_target_speed": 20.0,
        "target_point": [
            9.805049997675761,
            0.42386930584168425
        ],
        "target_point_next": [
            52.25473796087305,
            0.5714414222112882
        ]
    },
    "1110": {
        "acceleration": [
            0.02948760986328125,
            -0.039550065994262695,
            0.01032114028930664
        ],
        "angular_velocity": [
            -0.07125119864940643,
            0.07136590033769608,
            -2.3964593410491943
        ],
        "forward_vector": [
            -0.9941474199295044,
            -0.10341230779886246,
            0.031254444271326065
        ],
        "right_vector": [
            0.10347891598939896,
            -0.9946315288543701,
            0.0005169332143850625
        ],
        "location": [
            -1177.4578857421875,
            6476.587890625,
            370.0565185546875
        ],
        "rotation": [
            -0.02963257022202015,
            1.7910394668579102,
            -174.06138610839844
        ],
        "velocity": [
            -7.4698405265808105,
            -0.7864481806755066,
            0.23266595602035522
        ],
        "speed": 7.5111262959317155,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 55.22148132324219,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1232.310302734375,
                6470.40087890625,
                371.5879211425781
            ],
            "velocity": [
                -9.56521987915039,
                -1.0098870992660522,
                0.2349608689546585
            ],
            "speed_kmh": 34.63651091406412,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.143157005310059,
                "transform": {
                    "location": {
                        "x": -1140.18408203125,
                        "y": 6480.1142578125,
                        "z": 368.7999572753906
                    },
                    "rotation": {
                        "roll": -0.0011291493428871036,
                        "pitch": 2.0568020343780518,
                        "yaw": -174.16571044921875
                    }
                },
                "velocity": {
                    "x": -8.095785140991211,
                    "y": -0.8261950016021729,
                    "z": 0.2943951189517975
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -982.19921875,
                        "y": 6485.67626953125,
                        "z": 363.63232421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1071.419677734375,
                        "y": 6484.70556640625,
                        "z": 366.23095703125
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.62125301361084,
                "transform": {
                    "location": {
                        "x": -1232.310302734375,
                        "y": 6470.40087890625,
                        "z": 371.5879211425781
                    },
                    "rotation": {
                        "roll": -0.0003662007220555097,
                        "pitch": 1.4166767597198486,
                        "yaw": -173.9728240966797
                    }
                },
                "velocity": {
                    "x": -9.56521987915039,
                    "y": -1.0098870992660522,
                    "z": 0.2349608689546585
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.117022514343262,
                "transform": {
                    "location": {
                        "x": -1159.09716796875,
                        "y": 6478.13232421875,
                        "z": 369.5018310546875
                    },
                    "rotation": {
                        "roll": 0.0011593335075303912,
                        "pitch": 1.8778648376464844,
                        "yaw": -173.99111938476562
                    }
                },
                "velocity": {
                    "x": -7.073760032653809,
                    "y": -0.746470034122467,
                    "z": 0.23814691603183746
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1087.9881591796875,
                        "y": 6484.041015625,
                        "z": 366.86376953125
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -857.2958984375,
                        "y": 6486.62353515625,
                        "z": 361.2737121582031
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.835832118988037,
                "transform": {
                    "location": {
                        "x": -1120.5135498046875,
                        "y": 6481.90625,
                        "z": 368.0971374511719
                    },
                    "rotation": {
                        "roll": -0.0014038070803508162,
                        "pitch": 2.0785834789276123,
                        "yaw": -175.38015747070312
                    }
                },
                "velocity": {
                    "x": -6.808259010314941,
                    "y": -0.5597641468048096,
                    "z": 0.2507544457912445
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1054.6617431640625,
                        "y": 6485.09716796875,
                        "z": 365.5501403808594
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1037.567138671875,
                        "y": 6485.25634765625,
                        "z": 364.8758850097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1019.5255126953125,
                        "y": 6485.392578125,
                        "z": 364.3182678222656
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1000.9044799804688,
                        "y": 6485.5341796875,
                        "z": 363.9266357421875
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -965.393310546875,
                        "y": 6485.80419921875,
                        "z": 363.36920166015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -918.8555297851562,
                        "y": 6486.1572265625,
                        "z": 362.59808349609375
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -939.2742919921875,
                        "y": 6486.001953125,
                        "z": 362.96038818359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -894.7847290039062,
                        "y": 6486.33984375,
                        "z": 362.1165466308594
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -875.2894897460938,
                        "y": 6486.48681640625,
                        "z": 361.6910095214844
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -838.8001098632812,
                        "y": 6486.76416015625,
                        "z": 360.98065185546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1104.3634033203125,
                        "y": 6483.107421875,
                        "z": 367.4844970703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3324909508228302,
        "expert_target_speed": 20.0,
        "target_point": [
            7.926404207563447,
            0.40425013655377307
        ],
        "target_point_next": [
            50.376296775331326,
            0.47063302073712165
        ]
    },
    "1115": {
        "acceleration": [
            -0.059299468994140625,
            0.025377273559570312,
            -0.007100701332092285
        ],
        "angular_velocity": [
            0.19373872876167297,
            -0.0360872708261013,
            2.9475021362304688
        ],
        "forward_vector": [
            -0.9939385652542114,
            -0.10534656792879105,
            0.03143543750047684
        ],
        "right_vector": [
            0.10540686547756195,
            -0.9944291114807129,
            0.0002624576445668936
        ],
        "location": [
            -1179.3255615234375,
            6476.390625,
            370.1144714355469
        ],
        "rotation": [
            -0.015045150183141232,
            1.8014144897460938,
            -173.94985961914062
        ],
        "velocity": [
            -7.474755764007568,
            -0.7918077707290649,
            0.23106397688388824
        ],
        "speed": 7.516577231516437,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 55.746768951416016,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1234.7005615234375,
                6470.1484375,
                371.6463623046875
            ],
            "velocity": [
                -9.560954093933105,
                -1.0101323127746582,
                0.23248666524887085
            ],
            "speed_kmh": 34.62111980288385,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.288654804229736,
                "transform": {
                    "location": {
                        "x": -1141.977294921875,
                        "y": 6479.9306640625,
                        "z": 368.8653564453125
                    },
                    "rotation": {
                        "roll": -0.006286625750362873,
                        "pitch": 2.0093936920166016,
                        "yaw": -174.1681671142578
                    }
                },
                "velocity": {
                    "x": -6.251519203186035,
                    "y": -0.6437917351722717,
                    "z": 0.22632145881652832
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -984.6586303710938,
                        "y": 6485.658203125,
                        "z": 363.6707763671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1073.5479736328125,
                        "y": 6484.63818359375,
                        "z": 366.314453125
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.61697769165039,
                "transform": {
                    "location": {
                        "x": -1234.7005615234375,
                        "y": 6470.1484375,
                        "z": 371.6463623046875
                    },
                    "rotation": {
                        "roll": -6.103591294959188e-05,
                        "pitch": 1.3831405639648438,
                        "yaw": -173.9681854248047
                    }
                },
                "velocity": {
                    "x": -9.560954093933105,
                    "y": -1.0101323127746582,
                    "z": 0.23248666524887085
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.080170631408691,
                "transform": {
                    "location": {
                        "x": -1160.97509765625,
                        "y": 6477.93408203125,
                        "z": 369.5638732910156
                    },
                    "rotation": {
                        "roll": -0.00033569533843547106,
                        "pitch": 1.9894018173217773,
                        "yaw": -173.95944213867188
                    }
                },
                "velocity": {
                    "x": -8.030938148498535,
                    "y": -0.8498965501785278,
                    "z": 0.2662065327167511
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1089.96923828125,
                        "y": 6483.93994140625,
                        "z": 366.9386901855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -859.6783447265625,
                        "y": 6486.60546875,
                        "z": 361.323974609375
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.763771057128906,
                "transform": {
                    "location": {
                        "x": -1122.2889404296875,
                        "y": 6481.759765625,
                        "z": 368.1627502441406
                    },
                    "rotation": {
                        "roll": -0.002899172715842724,
                        "pitch": 2.014639377593994,
                        "yaw": -175.28359985351562
                    }
                },
                "velocity": {
                    "x": -7.732137203216553,
                    "y": -0.6400613188743591,
                    "z": 0.283757746219635
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1056.892333984375,
                        "y": 6485.06103515625,
                        "z": 365.6420593261719
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1039.9088134765625,
                        "y": 6485.23876953125,
                        "z": 364.960693359375
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1021.8675537109375,
                        "y": 6485.375,
                        "z": 364.3816223144531
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1003.2470092773438,
                        "y": 6485.5166015625,
                        "z": 363.96490478515625
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -967.8926391601562,
                        "y": 6485.78466796875,
                        "z": 363.4083557128906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -921.2778930664062,
                        "y": 6486.13818359375,
                        "z": 362.6462707519531
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -941.7736206054688,
                        "y": 6485.98291015625,
                        "z": 362.99951171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -897.1669921875,
                        "y": 6486.3212890625,
                        "z": 362.1653747558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -877.6719360351562,
                        "y": 6486.46875,
                        "z": 361.74517822265625
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -841.1830444335938,
                        "y": 6486.74560546875,
                        "z": 361.0079345703125
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1106.25927734375,
                        "y": 6482.98095703125,
                        "z": 367.5564880371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.32391297817230225,
        "expert_target_speed": 20.0,
        "target_point": [
            48.49905295722882,
            0.37326068384037736
        ],
        "target_point_next": [
            48.49905295722882,
            0.37326068384037736
        ]
    },
    "1120": {
        "acceleration": [
            -0.06805419921875,
            0.024158954620361328,
            0.013347864151000977
        ],
        "angular_velocity": [
            -0.03515033796429634,
            -0.10725390911102295,
            -3.0605509281158447
        ],
        "forward_vector": [
            -0.9940677285194397,
            -0.10425049811601639,
            0.031003868207335472
        ],
        "right_vector": [
            0.10429993271827698,
            -0.9945458769798279,
            -2.269400101795327e-05
        ],
        "location": [
            -1181.1959228515625,
            6476.19384765625,
            370.1720886230469
        ],
        "rotation": [
            0.001300895819440484,
            1.7766755819320679,
            -174.01312255859375
        ],
        "velocity": [
            -7.489903926849365,
            -0.7834140062332153,
            0.22912393510341644
        ],
        "speed": 7.5307634631952105,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 56.27016067504883,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1237.091552734375,
                6469.89599609375,
                371.7039794921875
            ],
            "velocity": [
                -9.565953254699707,
                -1.0100500583648682,
                0.22936616837978363
            ],
            "speed_kmh": 34.63871129724476,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.923091411590576,
                "transform": {
                    "location": {
                        "x": -1143.46533203125,
                        "y": 6479.77685546875,
                        "z": 368.91851806640625
                    },
                    "rotation": {
                        "roll": -0.005462652537971735,
                        "pitch": 2.02083420753479,
                        "yaw": -174.1465301513672
                    }
                },
                "velocity": {
                    "x": -5.887606143951416,
                    "y": -0.6125731468200684,
                    "z": 0.20942974090576172
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -986.9306640625,
                        "y": 6485.640625,
                        "z": 363.70635986328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1075.71240234375,
                        "y": 6484.55908203125,
                        "z": 366.39739990234375
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.621864318847656,
                "transform": {
                    "location": {
                        "x": -1237.091552734375,
                        "y": 6469.89599609375,
                        "z": 371.7039794921875
                    },
                    "rotation": {
                        "roll": -0.00018310773884877563,
                        "pitch": 1.3831063508987427,
                        "yaw": -173.97335815429688
                    }
                },
                "velocity": {
                    "x": -9.565953254699707,
                    "y": -1.0100500583648682,
                    "z": 0.22936616837978363
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.97543716430664,
                "transform": {
                    "location": {
                        "x": -1163.114990234375,
                        "y": 6477.7080078125,
                        "z": 369.6346740722656
                    },
                    "rotation": {
                        "roll": -0.0007019062759354711,
                        "pitch": 1.9771006107330322,
                        "yaw": -173.9833984375
                    }
                },
                "velocity": {
                    "x": -8.920971870422363,
                    "y": -0.9419253468513489,
                    "z": 0.29582780599594116
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1092.22216796875,
                        "y": 6483.82470703125,
                        "z": 367.0242004394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -862.1773071289062,
                        "y": 6486.5859375,
                        "z": 361.3825378417969
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.081422805786133,
                "transform": {
                    "location": {
                        "x": -1124.45068359375,
                        "y": 6481.578125,
                        "z": 368.2420959472656
                    },
                    "rotation": {
                        "roll": 0.005390999373048544,
                        "pitch": 1.9351564645767212,
                        "yaw": -175.1621551513672
                    }
                },
                "velocity": {
                    "x": -9.041464805603027,
                    "y": -0.7853224873542786,
                    "z": 0.327749639749527
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1058.9852294921875,
                        "y": 6485.0234375,
                        "z": 365.7281188964844
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1041.9688720703125,
                        "y": 6485.22216796875,
                        "z": 365.03826904296875
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1023.891845703125,
                        "y": 6485.3603515625,
                        "z": 364.43695068359375
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1005.3773803710938,
                        "y": 6485.5,
                        "z": 364.0043640136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -970.2352905273438,
                        "y": 6485.7666015625,
                        "z": 363.4450378417969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -923.7369384765625,
                        "y": 6486.119140625,
                        "z": 362.6950988769531
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -944.193115234375,
                        "y": 6485.96337890625,
                        "z": 363.0373840332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -899.6259765625,
                        "y": 6486.30224609375,
                        "z": 362.2152404785156
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -880.1309814453125,
                        "y": 6486.45068359375,
                        "z": 361.8006896972656
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -843.6824951171875,
                        "y": 6486.72607421875,
                        "z": 361.0391845703125
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1108.46337890625,
                        "y": 6482.83251953125,
                        "z": 367.6400451660156
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.34715497493743896,
        "expert_target_speed": 20.0,
        "target_point": [
            46.61792734104005,
            0.4261734519581042
        ],
        "target_point_next": [
            46.61792734104005,
            0.4261734519581042
        ]
    },
    "1125": {
        "acceleration": [
            -0.11105537414550781,
            0.08109211921691895,
            0.008838772773742676
        ],
        "angular_velocity": [
            0.14993971586227417,
            0.04370233044028282,
            2.3169124126434326
        ],
        "forward_vector": [
            -0.9941733479499817,
            -0.10326430201530457,
            0.03091617301106453
        ],
        "right_vector": [
            0.10330783575773239,
            -0.9946494102478027,
            -0.00019036662706639618
        ],
        "location": [
            -1183.0714111328125,
            6475.9990234375,
            370.2292175292969
        ],
        "rotation": [
            0.01091242115944624,
            1.7716485261917114,
            -174.06997680664062
        ],
        "velocity": [
            -7.514657020568848,
            -0.7698146104812622,
            0.22828397154808044
        ],
        "speed": 7.553984688314842,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 56.788509368896484,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1239.482421875,
                6469.64404296875,
                371.7611999511719
            ],
            "velocity": [
                -9.56138801574707,
                -1.0087307691574097,
                0.2277345359325409
            ],
            "speed_kmh": 34.62173390750963,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.613652229309082,
                "transform": {
                    "location": {
                        "x": -1145.0113525390625,
                        "y": 6479.61572265625,
                        "z": 368.9732971191406
                    },
                    "rotation": {
                        "roll": -0.0035095252096652985,
                        "pitch": 2.0304033756256104,
                        "yaw": -174.07826232910156
                    }
                },
                "velocity": {
                    "x": -6.573636531829834,
                    "y": -0.6878458261489868,
                    "z": 0.23359723389148712
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -989.3901977539062,
                        "y": 6485.62158203125,
                        "z": 363.7449035644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1077.947509765625,
                        "y": 6484.478515625,
                        "z": 366.4831848144531
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.617148399353027,
                "transform": {
                    "location": {
                        "x": -1239.482421875,
                        "y": 6469.64404296875,
                        "z": 371.7611999511719
                    },
                    "rotation": {
                        "roll": 7.33187043806538e-05,
                        "pitch": 1.3684351444244385,
                        "yaw": -173.97776794433594
                    }
                },
                "velocity": {
                    "x": -9.56138801574707,
                    "y": -1.0087307691574097,
                    "z": 0.2277345359325409
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.205187797546387,
                "transform": {
                    "location": {
                        "x": -1165.280029296875,
                        "y": 6477.47900390625,
                        "z": 369.7070617675781
                    },
                    "rotation": {
                        "roll": 0.0009083500481210649,
                        "pitch": 1.840469479560852,
                        "yaw": -173.9634246826172
                    }
                },
                "velocity": {
                    "x": -8.15536880493164,
                    "y": -0.8621999025344849,
                    "z": 0.2677476704120636
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1094.4395751953125,
                        "y": 6483.7060546875,
                        "z": 367.1081848144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -864.5963745117188,
                        "y": 6486.56787109375,
                        "z": 361.4395751953125
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.08298397064209,
                "transform": {
                    "location": {
                        "x": -1126.597900390625,
                        "y": 6481.39111328125,
                        "z": 368.3184814453125
                    },
                    "rotation": {
                        "roll": -0.0002746483660303056,
                        "pitch": 2.1134722232818604,
                        "yaw": -175.01202392578125
                    }
                },
                "velocity": {
                    "x": -8.046773910522461,
                    "y": -0.7065982818603516,
                    "z": 0.29117003083229065
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1061.212158203125,
                        "y": 6484.9765625,
                        "z": 365.81982421875
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1044.1712646484375,
                        "y": 6485.2060546875,
                        "z": 365.1228942871094
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1026.1014404296875,
                        "y": 6485.3427734375,
                        "z": 364.5022888183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1007.6345825195312,
                        "y": 6485.4833984375,
                        "z": 364.0469055175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -972.6242065429688,
                        "y": 6485.7490234375,
                        "z": 363.482421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -926.0089721679688,
                        "y": 6486.1025390625,
                        "z": 362.73834228515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -946.5051879882812,
                        "y": 6485.947265625,
                        "z": 363.0735778808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -901.8980102539062,
                        "y": 6486.2841796875,
                        "z": 362.2607421875
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -882.5134887695312,
                        "y": 6486.431640625,
                        "z": 361.853515625
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -846.1420288085938,
                        "y": 6486.70751953125,
                        "z": 361.0745544433594
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1110.641357421875,
                        "y": 6482.6767578125,
                        "z": 367.7226867675781
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3442519009113312,
        "expert_target_speed": 20.0,
        "target_point": [
            44.73190127791219,
            0.4724142440969157
        ],
        "target_point_next": [
            44.73190127791219,
            0.4724142440969157
        ]
    },
    "1130": {
        "acceleration": [
            -0.15794754028320312,
            0.0699615478515625,
            -0.005158185958862305
        ],
        "angular_velocity": [
            -0.12787970900535583,
            -0.034682583063840866,
            -3.4514455795288086
        ],
        "forward_vector": [
            -0.9944905638694763,
            -0.10013879090547562,
            0.030996719375252724
        ],
        "right_vector": [
            0.10017777979373932,
            -0.9949694871902466,
            -0.00029647976043634117
        ],
        "location": [
            -1184.9541015625,
            6475.80908203125,
            370.2862854003906
        ],
        "rotation": [
            0.016995206475257874,
            1.7762657403945923,
            -174.25006103515625
        ],
        "velocity": [
            -7.547957420349121,
            -0.7510280609130859,
            0.22825391590595245
        ],
        "speed": 7.585229354982104,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 57.300479888916016,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1241.8734130859375,
                6469.39111328125,
                371.8180847167969
            ],
            "velocity": [
                -9.565640449523926,
                -1.0105503797531128,
                0.2277841717004776
            ],
            "speed_kmh": 34.63764557260933,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.511943340301514,
                "transform": {
                    "location": {
                        "x": -1146.7867431640625,
                        "y": 6479.4306640625,
                        "z": 369.035888671875
                    },
                    "rotation": {
                        "roll": -0.0022888139355927706,
                        "pitch": 2.037978172302246,
                        "yaw": -174.01968383789062
                    }
                },
                "velocity": {
                    "x": -7.466341495513916,
                    "y": -0.7834855318069458,
                    "z": 0.26304399967193604
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -991.6858520507812,
                        "y": 6485.60400390625,
                        "z": 363.7808532714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1079.982666015625,
                        "y": 6484.3955078125,
                        "z": 366.5602722167969
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.62156867980957,
                "transform": {
                    "location": {
                        "x": -1241.8734130859375,
                        "y": 6469.39111328125,
                        "z": 371.8180847167969
                    },
                    "rotation": {
                        "roll": 0.0002672533446457237,
                        "pitch": 1.362390398979187,
                        "yaw": -173.96871948242188
                    }
                },
                "velocity": {
                    "x": -9.565640449523926,
                    "y": -1.0105503797531128,
                    "z": 0.2277841717004776
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.987645626068115,
                "transform": {
                    "location": {
                        "x": -1167.1444091796875,
                        "y": 6477.2822265625,
                        "z": 369.7687072753906
                    },
                    "rotation": {
                        "roll": -0.0014038141816854477,
                        "pitch": 1.7623116970062256,
                        "yaw": -173.9880828857422
                    }
                },
                "velocity": {
                    "x": -6.945438861846924,
                    "y": -0.7330832481384277,
                    "z": 0.22507710754871368
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1096.4388427734375,
                        "y": 6483.59228515625,
                        "z": 367.18402099609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -867.0952758789062,
                        "y": 6486.548828125,
                        "z": 361.4991455078125
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995710849761963,
                "transform": {
                    "location": {
                        "x": -1128.5692138671875,
                        "y": 6481.216796875,
                        "z": 368.39007568359375
                    },
                    "rotation": {
                        "roll": 0.005292573478072882,
                        "pitch": 2.081698179244995,
                        "yaw": -174.95230102539062
                    }
                },
                "velocity": {
                    "x": -7.957250595092773,
                    "y": -0.728570818901062,
                    "z": 0.2876502275466919
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1063.29345703125,
                        "y": 6484.93408203125,
                        "z": 365.9054870605469
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1046.3037109375,
                        "y": 6485.189453125,
                        "z": 365.20849609375
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1028.2845458984375,
                        "y": 6485.32666015625,
                        "z": 364.56689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1009.9136352539062,
                        "y": 6485.46533203125,
                        "z": 364.0939025878906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -974.9406127929688,
                        "y": 6485.73095703125,
                        "z": 363.5187072753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -928.5081787109375,
                        "y": 6486.08349609375,
                        "z": 362.7854309082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -949.0048217773438,
                        "y": 6485.92724609375,
                        "z": 363.1126403808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -904.3973388671875,
                        "y": 6486.2666015625,
                        "z": 362.31060791015625
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -885.0128173828125,
                        "y": 6486.41259765625,
                        "z": 361.9085388183594
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -848.6412963867188,
                        "y": 6486.6884765625,
                        "z": 361.11260986328125
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1112.618896484375,
                        "y": 6482.53662109375,
                        "z": 367.7978820800781
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33603,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -830.8027954101562,
                        "y": 6486.82421875,
                        "z": 361.04840087890625
                    },
                    "rotation": {
                        "roll": 1.0422199908655116e-10,
                        "pitch": 0.3164972960948944,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3592993915081024,
        "expert_target_speed": 20.0,
        "target_point": [
            42.837948075428166,
            0.6126324878503615
        ],
        "target_point_next": [
            42.837948075428166,
            0.6126324878503615
        ]
    },
    "1135": {
        "acceleration": [
            -0.15694618225097656,
            0.07354140281677246,
            0.0019234418869018555
        ],
        "angular_velocity": [
            0.022445814684033394,
            -0.12863969802856445,
            2.1423776149749756
        ],
        "forward_vector": [
            -0.9947351813316345,
            -0.0978260263800621,
            0.030528446659445763
        ],
        "right_vector": [
            0.09786304086446762,
            -0.9951997995376587,
            -0.0002829793666023761
        ],
        "location": [
            -1186.8460693359375,
            6475.623046875,
            370.3429870605469
        ],
        "rotation": [
            0.01622108370065689,
            1.7494230270385742,
            -174.3833770751953
        ],
        "velocity": [
            -7.588608741760254,
            -0.7333088517189026,
            0.22678697109222412
        ],
        "speed": 7.623957273459069,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 57.80374526977539,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1244.2645263671875,
                6469.138671875,
                371.8749084472656
            ],
            "velocity": [
                -9.5618314743042,
                -1.010384440422058,
                0.22753667831420898
            ],
            "speed_kmh": 34.623929146956144,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.771801948547363,
                "transform": {
                    "location": {
                        "x": -1148.7847900390625,
                        "y": 6479.220703125,
                        "z": 369.1060791015625
                    },
                    "rotation": {
                        "roll": -0.002166758058592677,
                        "pitch": 2.0509963035583496,
                        "yaw": -174.02760314941406
                    }
                },
                "velocity": {
                    "x": -8.718413352966309,
                    "y": -0.9170034527778625,
                    "z": 0.30474960803985596
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -993.932373046875,
                        "y": 6485.587890625,
                        "z": 363.8160095214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1081.98486328125,
                        "y": 6484.3134765625,
                        "z": 366.63623046875
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.617757797241211,
                "transform": {
                    "location": {
                        "x": -1244.2645263671875,
                        "y": 6469.138671875,
                        "z": 371.8749084472656
                    },
                    "rotation": {
                        "roll": -0.00015258857456501573,
                        "pitch": 1.3642140626907349,
                        "yaw": -173.97354125976562
                    }
                },
                "velocity": {
                    "x": -9.5618314743042,
                    "y": -1.010384440422058,
                    "z": 0.22753667831420898
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.025278568267822,
                "transform": {
                    "location": {
                        "x": -1168.8560791015625,
                        "y": 6477.1015625,
                        "z": 369.8233947753906
                    },
                    "rotation": {
                        "roll": 0.0017038409132510424,
                        "pitch": 1.8163111209869385,
                        "yaw": -173.96292114257812
                    }
                },
                "velocity": {
                    "x": -6.982859134674072,
                    "y": -0.736862063407898,
                    "z": 0.22639337182044983
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1098.4639892578125,
                        "y": 6483.47802734375,
                        "z": 367.26080322265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -869.5941772460938,
                        "y": 6486.52978515625,
                        "z": 361.55859375
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.352243423461914,
                "transform": {
                    "location": {
                        "x": -1130.623779296875,
                        "y": 6481.02880859375,
                        "z": 368.46478271484375
                    },
                    "rotation": {
                        "roll": 0.0012910400982946157,
                        "pitch": 2.027425527572632,
                        "yaw": -174.7607879638672
                    }
                },
                "velocity": {
                    "x": -8.311176300048828,
                    "y": -0.7700687050819397,
                    "z": 0.302170068025589
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1065.278076171875,
                        "y": 6484.88232421875,
                        "z": 365.9857482910156
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1048.2808837890625,
                        "y": 6485.1748046875,
                        "z": 365.2879638671875
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1030.2667236328125,
                        "y": 6485.31103515625,
                        "z": 364.6300964355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1012.08935546875,
                        "y": 6485.44921875,
                        "z": 364.1405334472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -977.1261596679688,
                        "y": 6485.71435546875,
                        "z": 363.55291748046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -931.0078125,
                        "y": 6486.064453125,
                        "z": 362.8277893066406
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -951.5044555664062,
                        "y": 6485.9091796875,
                        "z": 363.1517028808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -906.8966064453125,
                        "y": 6486.24755859375,
                        "z": 362.36029052734375
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -887.5120239257812,
                        "y": 6486.3935546875,
                        "z": 361.9625549316406
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -851.1407470703125,
                        "y": 6486.66943359375,
                        "z": 361.1553955078125
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1114.6649169921875,
                        "y": 6482.38134765625,
                        "z": 367.875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33603,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -833.3013916015625,
                        "y": 6486.8056640625,
                        "z": 360.9715881347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3766459822654724,
        "expert_target_speed": 20.0,
        "target_point": [
            40.93531443353534,
            0.7123413369089842
        ],
        "target_point_next": [
            40.93531443353534,
            0.7123413369089842
        ]
    },
    "1140": {
        "acceleration": [
            -0.1723480224609375,
            0.07087230682373047,
            -0.0021216273307800293
        ],
        "angular_velocity": [
            -0.0991605743765831,
            0.004835139960050583,
            -3.4208948612213135
        ],
        "forward_vector": [
            -0.995063066482544,
            -0.09451758116483688,
            0.030264880508184433
        ],
        "right_vector": [
            0.09455448389053345,
            -0.9955196976661682,
            -0.0002127388579538092
        ],
        "location": [
            -1188.74853515625,
            6475.44091796875,
            370.3996887207031
        ],
        "rotation": [
            0.012194625101983547,
            1.7343146800994873,
            -174.57395935058594
        ],
        "velocity": [
            -7.6318793296813965,
            -0.7155560255050659,
            0.22474153339862823
        ],
        "speed": 7.665350776608646,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 58.29671859741211,
        "front_vehicle_info": {
            "id": 33566,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1246.6553955078125,
                6468.88671875,
                371.93109130859375
            ],
            "velocity": [
                -9.566207885742188,
                -1.00916588306427,
                0.22375008463859558
            ],
            "speed_kmh": 34.63881260931527,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.981064796447754,
                "transform": {
                    "location": {
                        "x": -1151.020751953125,
                        "y": 6478.98486328125,
                        "z": 369.1842041015625
                    },
                    "rotation": {
                        "roll": -0.0014038070803508162,
                        "pitch": 1.9864647388458252,
                        "yaw": -173.99993896484375
                    }
                },
                "velocity": {
                    "x": -8.926332473754883,
                    "y": -0.9404268264770508,
                    "z": 0.30938971042633057
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -996.2147216796875,
                        "y": 6485.56982421875,
                        "z": 363.85174560546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1084.065673828125,
                        "y": 6484.22412109375,
                        "z": 366.7150573730469
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.621892929077148,
                "transform": {
                    "location": {
                        "x": -1246.6553955078125,
                        "y": 6468.88671875,
                        "z": 371.93109130859375
                    },
                    "rotation": {
                        "roll": -0.00021362811094149947,
                        "pitch": 1.3349740505218506,
                        "yaw": -173.97723388671875
                    }
                },
                "velocity": {
                    "x": -9.566207885742188,
                    "y": -1.00916588306427,
                    "z": 0.22375008463859558
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.112408638000488,
                "transform": {
                    "location": {
                        "x": -1170.730712890625,
                        "y": 6476.904296875,
                        "z": 369.8828125
                    },
                    "rotation": {
                        "roll": -0.00042724513332359493,
                        "pitch": 1.913641333580017,
                        "yaw": -173.99017333984375
                    }
                },
                "velocity": {
                    "x": -8.06358528137207,
                    "y": -0.8506110310554504,
                    "z": 0.25734421610832214
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1100.54248046875,
                        "y": 6483.34912109375,
                        "z": 367.3396301269531
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -872.0934448242188,
                        "y": 6486.51025390625,
                        "z": 361.6168518066406
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.526456832885742,
                "transform": {
                    "location": {
                        "x": -1132.70458984375,
                        "y": 6480.8359375,
                        "z": 368.54010009765625
                    },
                    "rotation": {
                        "roll": -0.003112791571766138,
                        "pitch": 2.0337159633636475,
                        "yaw": -174.7367401123047
                    }
                },
                "velocity": {
                    "x": -8.484732627868652,
                    "y": -0.7846408486366272,
                    "z": 0.30679890513420105
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1067.3563232421875,
                        "y": 6484.82666015625,
                        "z": 366.06982421875
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1050.3494873046875,
                        "y": 6485.15185546875,
                        "z": 365.3728942871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1032.3179931640625,
                        "y": 6485.29541015625,
                        "z": 364.6961669921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1014.2764892578125,
                        "y": 6485.43212890625,
                        "z": 364.18939208984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -979.4085693359375,
                        "y": 6485.697265625,
                        "z": 363.5886535644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -933.5073852539062,
                        "y": 6486.04541015625,
                        "z": 362.86962890625
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -954.0040283203125,
                        "y": 6485.8896484375,
                        "z": 363.19091796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -909.3959350585938,
                        "y": 6486.228515625,
                        "z": 362.4100036621094
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -890.0112915039062,
                        "y": 6486.3740234375,
                        "z": 362.01617431640625
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -853.6400756835938,
                        "y": 6486.65087890625,
                        "z": 361.20025634765625
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1116.74365234375,
                        "y": 6482.22314453125,
                        "z": 367.9534606933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33603,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -835.800537109375,
                        "y": 6486.7861328125,
                        "z": 360.9539794921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4045925438404083,
        "expert_target_speed": 20.0,
        "target_point": [
            39.021555125043456,
            0.8470908459729873
        ],
        "target_point_next": [
            39.021555125043456,
            0.8470908459729873
        ]
    },
    "1145": {
        "acceleration": [
            -0.30974388122558594,
            0.06486296653747559,
            0.0074478983879089355
        ],
        "angular_velocity": [
            0.09964242577552795,
            0.0539352111518383,
            2.0966262817382812
        ],
        "forward_vector": [
            -0.995280385017395,
            -0.09216069430112839,
            0.030387012287974358
        ],
        "right_vector": [
            0.0921986922621727,
            -0.9957406520843506,
            -0.00015124655328691006
        ],
        "location": [
            -1190.66357421875,
            6475.26416015625,
            370.45611572265625
        ],
        "rotation": [
            0.008669792674481869,
            1.7413156032562256,
            -174.70962524414062
        ],
        "velocity": [
            -7.692596435546875,
            -0.6989641189575195,
            0.22551515698432922
        ],
        "speed": 7.724285776677255,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 114.85580444335938,
        "front_vehicle_info": {
            "id": 33569,
            "type": "vehicle.audi.tt",
            "location": [
                -1304.805419921875,
                6462.744140625,
                373.0530700683594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.181464195251465,
                "transform": {
                    "location": {
                        "x": -1153.2716064453125,
                        "y": 6478.748046875,
                        "z": 369.2620544433594
                    },
                    "rotation": {
                        "roll": -0.0014343240763992071,
                        "pitch": 1.9666913747787476,
                        "yaw": -173.9936981201172
                    }
                },
                "velocity": {
                    "x": -9.125459671020508,
                    "y": -0.9627488255500793,
                    "z": 0.3136681020259857
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -998.3453979492188,
                        "y": 6485.55419921875,
                        "z": 363.88507080078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1086.193359375,
                        "y": 6484.12353515625,
                        "z": 366.7956848144531
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.555445671081543,
                "transform": {
                    "location": {
                        "x": -1172.8516845703125,
                        "y": 6476.6806640625,
                        "z": 369.9508056640625
                    },
                    "rotation": {
                        "roll": -0.00012206930114189163,
                        "pitch": 1.889824390411377,
                        "yaw": -173.96109008789062
                    }
                },
                "velocity": {
                    "x": -8.503782272338867,
                    "y": -0.8991345167160034,
                    "z": 0.2699934244155884
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1102.6895751953125,
                        "y": 6483.21728515625,
                        "z": 367.4211120605469
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -874.5927734375,
                        "y": 6486.4921875,
                        "z": 361.6750183105469
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.775802612304688,
                "transform": {
                    "location": {
                        "x": -1134.8721923828125,
                        "y": 6480.62841796875,
                        "z": 368.61865234375
                    },
                    "rotation": {
                        "roll": 0.0028814980760216713,
                        "pitch": 2.028846025466919,
                        "yaw": -174.5148162841797
                    }
                },
                "velocity": {
                    "x": -8.728804588317871,
                    "y": -0.8506184220314026,
                    "z": 0.31485939025878906
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1069.4642333984375,
                        "y": 6484.7666015625,
                        "z": 366.1537780761719
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1052.4417724609375,
                        "y": 6485.1279296875,
                        "z": 365.45892333984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1034.5247802734375,
                        "y": 6485.27978515625,
                        "z": 364.7691955566406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1016.4468383789062,
                        "y": 6485.416015625,
                        "z": 364.2418518066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -981.6243286132812,
                        "y": 6485.6796875,
                        "z": 363.6232604980469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -936.0070190429688,
                        "y": 6486.02587890625,
                        "z": 362.9089660644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -956.503662109375,
                        "y": 6485.87060546875,
                        "z": 363.22998046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -911.8951416015625,
                        "y": 6486.20947265625,
                        "z": 362.4596252441406
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -892.5106201171875,
                        "y": 6486.35595703125,
                        "z": 362.06878662109375
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -856.1393432617188,
                        "y": 6486.63134765625,
                        "z": 361.24993896484375
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1118.9061279296875,
                        "y": 6482.05224609375,
                        "z": 368.0340576171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33603,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -838.3001098632812,
                        "y": 6486.767578125,
                        "z": 360.9762268066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.39903318881988525,
        "expert_target_speed": 20.0,
        "target_point": [
            37.09626124578563,
            0.9400404441472743
        ],
        "target_point_next": [
            37.09626124578563,
            0.9400404441472743
        ]
    },
    "1150": {
        "acceleration": [
            -0.4457283020019531,
            0.04816412925720215,
            0.03298938274383545
        ],
        "angular_velocity": [
            -0.0886274129152298,
            -0.021580854430794716,
            -3.382293701171875
        ],
        "forward_vector": [
            -0.995583176612854,
            -0.08882761746644974,
            0.03039451874792576
        ],
        "right_vector": [
            0.08886612206697464,
            -0.9960435628890991,
            -8.426920976489782e-05
        ],
        "location": [
            -1192.59912109375,
            6475.09033203125,
            370.5128173828125
        ],
        "rotation": [
            0.0048305015079677105,
            1.741745948791504,
            -174.90147399902344
        ],
        "velocity": [
            -7.793363094329834,
            -0.6858512759208679,
            0.22856660187244415
        ],
        "speed": 7.82348389739153,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 112.91207122802734,
        "front_vehicle_info": {
            "id": 33569,
            "type": "vehicle.audi.tt",
            "location": [
                -1304.805419921875,
                6462.744140625,
                373.0530700683594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.446534156799316,
                "transform": {
                    "location": {
                        "x": -1155.4698486328125,
                        "y": 6478.51611328125,
                        "z": 369.3376770019531
                    },
                    "rotation": {
                        "roll": 0.00023652332311030477,
                        "pitch": 1.9340977668762207,
                        "yaw": -173.96029663085938
                    }
                },
                "velocity": {
                    "x": -8.395147323608398,
                    "y": -0.8858395218849182,
                    "z": 0.2841275632381439
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1000.5986328125,
                        "y": 6485.5361328125,
                        "z": 363.9216003417969
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1088.382568359375,
                        "y": 6484.02197265625,
                        "z": 366.8786315917969
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.47464656829834,
                "transform": {
                    "location": {
                        "x": -1174.8427734375,
                        "y": 6476.4697265625,
                        "z": 370.0149230957031
                    },
                    "rotation": {
                        "roll": -0.0011901921825483441,
                        "pitch": 1.7239328622817993,
                        "yaw": -173.99095153808594
                    }
                },
                "velocity": {
                    "x": -7.429901123046875,
                    "y": -0.78269362449646,
                    "z": 0.2330320179462433
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1104.877197265625,
                        "y": 6483.07421875,
                        "z": 367.50396728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -877.092041015625,
                        "y": 6486.47314453125,
                        "z": 361.73187255859375
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.619484901428223,
                "transform": {
                    "location": {
                        "x": -1137.0484619140625,
                        "y": 6480.41650390625,
                        "z": 368.6970520019531
                    },
                    "rotation": {
                        "roll": -0.00024413740902673453,
                        "pitch": 2.063126802444458,
                        "yaw": -174.46255493164062
                    }
                },
                "velocity": {
                    "x": -8.573036193847656,
                    "y": -0.8381741642951965,
                    "z": 0.30990070104599
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1071.6513671875,
                        "y": 6484.69775390625,
                        "z": 366.239990234375
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1054.6224365234375,
                        "y": 6485.0986328125,
                        "z": 365.5484924316406
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1036.6934814453125,
                        "y": 6485.26318359375,
                        "z": 364.8450622558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1018.6376342773438,
                        "y": 6485.3994140625,
                        "z": 364.2955017089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -983.8567504882812,
                        "y": 6485.66357421875,
                        "z": 363.65826416015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -938.506591796875,
                        "y": 6486.00732421875,
                        "z": 362.94830322265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -959.0032348632812,
                        "y": 6485.8515625,
                        "z": 363.2691650390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -914.3943481445312,
                        "y": 6486.1904296875,
                        "z": 362.5093994140625
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -895.0098876953125,
                        "y": 6486.337890625,
                        "z": 362.1210021972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -858.638671875,
                        "y": 6486.61279296875,
                        "z": 361.30169677734375
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1121.0892333984375,
                        "y": 6481.87353515625,
                        "z": 368.1145935058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33603,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -840.7997436523438,
                        "y": 6486.74853515625,
                        "z": 361.0031433105469
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.44674602150917053,
        "expert_target_speed": 20.0,
        "target_point": [
            35.1495692430718,
            1.063116027964628
        ],
        "target_point_next": [
            35.1495692430718,
            1.063116027964628
        ]
    },
    "1155": {
        "acceleration": [
            -0.5165290832519531,
            0.015869140625,
            0.014431774616241455
        ],
        "angular_velocity": [
            0.04758347198367119,
            -0.03113008663058281,
            2.217196226119995
        ],
        "forward_vector": [
            -0.9957567453384399,
            -0.08692929148674011,
            0.030196961015462875
        ],
        "right_vector": [
            0.08697126060724258,
            -0.9962108731269836,
            7.666402234463021e-05
        ],
        "location": [
            -1194.5633544921875,
            6474.91943359375,
            370.5699768066406
        ],
        "rotation": [
            -0.0043945289216935635,
            1.730421543121338,
            -175.0107421875
        ],
        "velocity": [
            -7.918817520141602,
            -0.681526243686676,
            0.22933156788349152
        ],
        "speed": 7.948090898960281,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 110.94014739990234,
        "front_vehicle_info": {
            "id": 33569,
            "type": "vehicle.audi.tt",
            "location": [
                -1304.805419921875,
                6462.744140625,
                373.0530700683594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.138046741485596,
                "transform": {
                    "location": {
                        "x": -1157.383056640625,
                        "y": 6478.31494140625,
                        "z": 369.4029235839844
                    },
                    "rotation": {
                        "roll": 0.003133514430373907,
                        "pitch": 1.8760137557983398,
                        "yaw": -173.90403747558594
                    }
                },
                "velocity": {
                    "x": -7.094351768493652,
                    "y": -0.750891923904419,
                    "z": 0.2409248799085617
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1002.7908325195312,
                        "y": 6485.5205078125,
                        "z": 363.95745849609375
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1090.5281982421875,
                        "y": 6483.9111328125,
                        "z": 366.96002197265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.196683883666992,
                "transform": {
                    "location": {
                        "x": -1176.63427734375,
                        "y": 6476.28125,
                        "z": 370.0708923339844
                    },
                    "rotation": {
                        "roll": -0.00015259560314007103,
                        "pitch": 1.7391027212142944,
                        "yaw": -173.9611358642578
                    }
                },
                "velocity": {
                    "x": -7.1533427238464355,
                    "y": -0.7565369009971619,
                    "z": 0.22270634770393372
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1106.9981689453125,
                        "y": 6482.93359375,
                        "z": 367.5845642089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -879.5913696289062,
                        "y": 6486.4541015625,
                        "z": 361.7886962890625
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.154662132263184,
                "transform": {
                    "location": {
                        "x": -1139.125,
                        "y": 6480.2119140625,
                        "z": 368.7720642089844
                    },
                    "rotation": {
                        "roll": 0.003125713439658284,
                        "pitch": 2.0950510501861572,
                        "yaw": -174.314208984375
                    }
                },
                "velocity": {
                    "x": -8.107611656188965,
                    "y": -0.8239367008209229,
                    "z": 0.29371729493141174
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1073.817626953125,
                        "y": 6484.62744140625,
                        "z": 366.3245544433594
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1056.8037109375,
                        "y": 6485.06298828125,
                        "z": 365.6383361816406
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1038.8831787109375,
                        "y": 6485.24658203125,
                        "z": 364.9223327636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1020.830078125,
                        "y": 6485.3828125,
                        "z": 364.3541564941406
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -986.0458984375,
                        "y": 6485.64599609375,
                        "z": 363.6925048828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -941.0062255859375,
                        "y": 6485.98876953125,
                        "z": 362.98736572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -961.5028686523438,
                        "y": 6485.83349609375,
                        "z": 363.3082275390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -916.8936767578125,
                        "y": 6486.1708984375,
                        "z": 362.5590515136719
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -897.5092163085938,
                        "y": 6486.31884765625,
                        "z": 362.17236328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -861.137939453125,
                        "y": 6486.59375,
                        "z": 361.3581848144531
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1123.182861328125,
                        "y": 6481.70361328125,
                        "z": 368.19158935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33603,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -843.2993774414062,
                        "y": 6486.72900390625,
                        "z": 361.0343933105469
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.47280314564704895,
        "expert_target_speed": 20.0,
        "target_point": [
            33.175823754451095,
            1.1307331469007647
        ],
        "target_point_next": [
            33.175823754451095,
            1.1307331469007647
        ]
    },
    "1160": {
        "acceleration": [
            -0.5565834045410156,
            0.011000633239746094,
            0.02625882625579834
        ],
        "angular_velocity": [
            -0.10785625874996185,
            0.023948946967720985,
            -3.0686416625976562
        ],
        "forward_vector": [
            -0.9959601163864136,
            -0.08456326276063919,
            0.030207209289073944
        ],
        "right_vector": [
            0.08460827171802521,
            -0.996414303779602,
            0.00021242350339889526
        ],
        "location": [
            -1196.5606689453125,
            6474.74853515625,
            370.6275634765625
        ],
        "rotation": [
            -0.012176526710391045,
            1.7310088872909546,
            -175.14686584472656
        ],
        "velocity": [
            -8.056075096130371,
            -0.6782223582267761,
            0.23083798587322235
        ],
        "speed": 8.084573675939298,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 108.93536376953125,
        "front_vehicle_info": {
            "id": 33569,
            "type": "vehicle.audi.tt",
            "location": [
                -1304.805419921875,
                6462.744140625,
                373.0530700683594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.373122215270996,
                "transform": {
                    "location": {
                        "x": -1159.164306640625,
                        "y": 6478.1259765625,
                        "z": 369.4624938964844
                    },
                    "rotation": {
                        "roll": 0.0012014154344797134,
                        "pitch": 1.913088083267212,
                        "yaw": -173.90965270996094
                    }
                },
                "velocity": {
                    "x": -7.328068256378174,
                    "y": -0.7759787440299988,
                    "z": 0.24537110328674316
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1005.0330200195312,
                        "y": 6485.50244140625,
                        "z": 363.9979248046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1092.57373046875,
                        "y": 6483.80712890625,
                        "z": 367.0375671386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.132702827453613,
                "transform": {
                    "location": {
                        "x": -1178.52783203125,
                        "y": 6476.0810546875,
                        "z": 370.1289367675781
                    },
                    "rotation": {
                        "roll": -0.0008239680901169777,
                        "pitch": 1.8513363599777222,
                        "yaw": -173.98678588867188
                    }
                },
                "velocity": {
                    "x": -8.083864212036133,
                    "y": -0.8531942367553711,
                    "z": 0.2530713379383087
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1109.039306640625,
                        "y": 6482.79296875,
                        "z": 367.6618957519531
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -882.090576171875,
                        "y": 6486.43505859375,
                        "z": 361.8441467285156
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.313657760620117,
                "transform": {
                    "location": {
                        "x": -1141.1717529296875,
                        "y": 6480.00439453125,
                        "z": 368.84661865234375
                    },
                    "rotation": {
                        "roll": -0.002014157362282276,
                        "pitch": 2.0475881099700928,
                        "yaw": -174.23846435546875
                    }
                },
                "velocity": {
                    "x": -8.26551628112793,
                    "y": -0.8420529961585999,
                    "z": 0.2984957695007324
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1075.875244140625,
                        "y": 6484.55224609375,
                        "z": 366.4035949707031
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1058.879638671875,
                        "y": 6485.02783203125,
                        "z": 365.72381591796875
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1040.9830322265625,
                        "y": 6485.23046875,
                        "z": 365.0013122558594
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1022.9557495117188,
                        "y": 6485.3671875,
                        "z": 364.4111633300781
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -988.307373046875,
                        "y": 6485.63037109375,
                        "z": 363.72796630859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -943.505859375,
                        "y": 6485.9697265625,
                        "z": 363.02655029296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -964.0025024414062,
                        "y": 6485.8134765625,
                        "z": 363.3474426269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -919.3929443359375,
                        "y": 6486.15283203125,
                        "z": 362.6087951660156
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -900.0084228515625,
                        "y": 6486.298828125,
                        "z": 362.2228088378906
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -863.6371459960938,
                        "y": 6486.57568359375,
                        "z": 361.4167175292969
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1125.2276611328125,
                        "y": 6481.525390625,
                        "z": 368.265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33603,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -845.7989501953125,
                        "y": 6486.7099609375,
                        "z": 361.069091796875
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4928898215293884,
        "expert_target_speed": 20.0,
        "target_point": [
            31.168431891319546,
            1.2082339367306694
        ],
        "target_point_next": [
            31.168431891319546,
            1.2082339367306694
        ]
    },
    "1165": {
        "acceleration": [
            -0.62225341796875,
            0.01454472541809082,
            -0.015049874782562256
        ],
        "angular_velocity": [
            0.04824573174118996,
            -0.03267216309905052,
            2.140843391418457
        ],
        "forward_vector": [
            -0.9960799217224121,
            -0.08310399949550629,
            0.03030741773545742
        ],
        "right_vector": [
            0.08314964920282364,
            -0.9965370297431946,
            0.0002470279287081212
        ],
        "location": [
            -1198.5936279296875,
            6474.5791015625,
            370.68597412109375
        ],
        "rotation": [
            -0.014160163700580597,
            1.7367531061172485,
            -175.23080444335938
        ],
        "velocity": [
            -8.203850746154785,
            -0.6748072504997253,
            0.23336713016033173
        ],
        "speed": 8.231557075700284,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 106.89533996582031,
        "front_vehicle_info": {
            "id": 33569,
            "type": "vehicle.audi.tt",
            "location": [
                -1304.805419921875,
                6462.744140625,
                373.0530700683594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.881629467010498,
                "transform": {
                    "location": {
                        "x": -1161.08837890625,
                        "y": 6477.921875,
                        "z": 369.52679443359375
                    },
                    "rotation": {
                        "roll": 0.0002566979092080146,
                        "pitch": 1.9300678968429565,
                        "yaw": -173.9487762451172
                    }
                },
                "velocity": {
                    "x": -7.833693027496338,
                    "y": -0.8281964659690857,
                    "z": 0.25967535376548767
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1007.0818481445312,
                        "y": 6485.48681640625,
                        "z": 364.0364685058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1094.623291015625,
                        "y": 6483.69482421875,
                        "z": 367.1151428222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.435517311096191,
                "transform": {
                    "location": {
                        "x": -1180.644287109375,
                        "y": 6475.85791015625,
                        "z": 370.1944580078125
                    },
                    "rotation": {
                        "roll": -0.00021364210988394916,
                        "pitch": 1.7991946935653687,
                        "yaw": -173.96096801757812
                    }
                },
                "velocity": {
                    "x": -8.384864807128906,
                    "y": -0.8866261839866638,
                    "z": 0.2566794753074646
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1111.06640625,
                        "y": 6482.6474609375,
                        "z": 367.7388916015625
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -884.58984375,
                        "y": 6486.416015625,
                        "z": 361.89947509765625
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.432225704193115,
                "transform": {
                    "location": {
                        "x": -1143.145263671875,
                        "y": 6479.80224609375,
                        "z": 368.9173889160156
                    },
                    "rotation": {
                        "roll": -0.003021249081939459,
                        "pitch": 2.1015262603759766,
                        "yaw": -174.17625427246094
                    }
                },
                "velocity": {
                    "x": -7.387774467468262,
                    "y": -0.7674386501312256,
                    "z": 0.26420968770980835
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1077.935546875,
                        "y": 6484.478515625,
                        "z": 366.48272705078125
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1060.9383544921875,
                        "y": 6484.98291015625,
                        "z": 365.8085021972656
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1043.0345458984375,
                        "y": 6485.21484375,
                        "z": 365.0784606933594
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1025.001953125,
                        "y": 6485.3525390625,
                        "z": 364.46990966796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -990.3670043945312,
                        "y": 6485.6142578125,
                        "z": 363.7601623535156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -946.0054321289062,
                        "y": 6485.95068359375,
                        "z": 363.06561279296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -966.5020751953125,
                        "y": 6485.79541015625,
                        "z": 363.3865051269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -921.8922729492188,
                        "y": 6486.1337890625,
                        "z": 362.65850830078125
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -902.5076293945312,
                        "y": 6486.2802734375,
                        "z": 362.2729187011719
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -866.13623046875,
                        "y": 6486.55615234375,
                        "z": 361.4762878417969
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1127.2271728515625,
                        "y": 6481.353515625,
                        "z": 368.3380432128906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33603,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -848.2984008789062,
                        "y": 6486.69091796875,
                        "z": 361.1073303222656
                    },
                    "rotation": {
                        "roll": -4.1693892782745934e-10,
                        "pitch": 0.9497172832489014,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5411749482154846,
        "expert_target_speed": 20.0,
        "target_point": [
            29.126620640976114,
            1.2540817800675215
        ],
        "target_point_next": [
            29.126620640976114,
            1.2540817800675215
        ]
    },
    "1170": {
        "acceleration": [
            -0.6341171264648438,
            0.010725259780883789,
            -0.0020423531532287598
        ],
        "angular_velocity": [
            -0.07789739966392517,
            -0.10921682417392731,
            -2.981182336807251
        ],
        "forward_vector": [
            -0.9962879419326782,
            -0.08072110265493393,
            0.029907770454883575
        ],
        "right_vector": [
            0.0807684138417244,
            -0.9967328310012817,
            0.00037533772410824895
        ],
        "location": [
            -1200.6649169921875,
            6474.41064453125,
            370.744873046875
        ],
        "rotation": [
            -0.021514892578125,
            1.713844656944275,
            -175.36790466308594
        ],
        "velocity": [
            -8.362833976745605,
            -0.6716845631599426,
            0.2364722192287445
        ],
        "speed": 8.389764732994488,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 104.8173599243164,
        "front_vehicle_info": {
            "id": 33569,
            "type": "vehicle.audi.tt",
            "location": [
                -1304.805419921875,
                6462.744140625,
                373.0530700683594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.33738899230957,
                "transform": {
                    "location": {
                        "x": -1163.2652587890625,
                        "y": 6477.69189453125,
                        "z": 369.59893798828125
                    },
                    "rotation": {
                        "roll": 0.001745609799399972,
                        "pitch": 1.9168447256088257,
                        "yaw": -173.93414306640625
                    }
                },
                "velocity": {
                    "x": -9.280510902404785,
                    "y": -0.982155442237854,
                    "z": 0.30710625648498535
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1009.286376953125,
                        "y": 6485.470703125,
                        "z": 364.0799865722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1096.4593505859375,
                        "y": 6483.591796875,
                        "z": 367.18475341796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.699796676635742,
                "transform": {
                    "location": {
                        "x": -1182.63525390625,
                        "y": 6475.6474609375,
                        "z": 370.2561950683594
                    },
                    "rotation": {
                        "roll": -0.00042724498780444264,
                        "pitch": 1.684993863105774,
                        "yaw": -173.98304748535156
                    }
                },
                "velocity": {
                    "x": -7.653690814971924,
                    "y": -0.8086957335472107,
                    "z": 0.23214860260486603
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1112.8365478515625,
                        "y": 6482.52099609375,
                        "z": 367.80615234375
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -887.089111328125,
                        "y": 6486.39697265625,
                        "z": 361.9534606933594
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.454989910125732,
                "transform": {
                    "location": {
                        "x": -1144.8140869140625,
                        "y": 6479.63134765625,
                        "z": 368.9764709472656
                    },
                    "rotation": {
                        "roll": 0.004524455405771732,
                        "pitch": 2.101724147796631,
                        "yaw": -173.89825439453125
                    }
                },
                "velocity": {
                    "x": -6.416351795196533,
                    "y": -0.6673831939697266,
                    "z": 0.22786954045295715
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1079.8375244140625,
                        "y": 6484.40087890625,
                        "z": 366.55474853515625
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1062.8995361328125,
                        "y": 6484.94189453125,
                        "z": 365.8892822265625
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1045.0399169921875,
                        "y": 6485.19970703125,
                        "z": 365.1575012207031
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1027.033935546875,
                        "y": 6485.3369140625,
                        "z": 364.5299072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -992.5205078125,
                        "y": 6485.59814453125,
                        "z": 363.7938537597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -948.5050659179688,
                        "y": 6485.931640625,
                        "z": 363.1048278808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -969.001708984375,
                        "y": 6485.775390625,
                        "z": 363.4256896972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -924.3915405273438,
                        "y": 6486.11474609375,
                        "z": 362.7076416015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -905.0069580078125,
                        "y": 6486.26123046875,
                        "z": 362.3226623535156
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -868.6351318359375,
                        "y": 6486.53759765625,
                        "z": 361.5358581542969
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1128.9285888671875,
                        "y": 6481.20068359375,
                        "z": 368.3995666503906
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33603,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -850.7977294921875,
                        "y": 6486.67236328125,
                        "z": 361.14892578125
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5595535635948181,
        "expert_target_speed": 20.0,
        "target_point": [
            27.045408592850603,
            1.323136352012694
        ],
        "target_point_next": [
            27.045408592850603,
            1.323136352012694
        ]
    },
    "1175": {
        "acceleration": [
            -0.6262969970703125,
            0.022815465927124023,
            0.01517951488494873
        ],
        "angular_velocity": [
            0.11207688599824905,
            0.020889315754175186,
            2.018049716949463
        ],
        "forward_vector": [
            -0.9964166283607483,
            -0.07917455583810806,
            0.029754655435681343
        ],
        "right_vector": [
            0.07922229170799255,
            -0.9968568682670593,
            0.0004269819473847747
        ],
        "location": [
            -1202.7762451171875,
            6474.2431640625,
            370.8043518066406
        ],
        "rotation": [
            -0.02447509951889515,
            1.7050678730010986,
            -175.4568634033203
        ],
        "velocity": [
            -8.522259712219238,
            -0.6673576235771179,
            0.23750177025794983
        ],
        "speed": 8.548349361149299,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 102.69973754882812,
        "front_vehicle_info": {
            "id": 33569,
            "type": "vehicle.audi.tt",
            "location": [
                -1304.805419921875,
                6462.744140625,
                373.0530700683594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.624366760253906,
                "transform": {
                    "location": {
                        "x": -1165.5186767578125,
                        "y": 6477.45361328125,
                        "z": 369.6734619140625
                    },
                    "rotation": {
                        "roll": 0.0008077215170487761,
                        "pitch": 1.859163761138916,
                        "yaw": -173.97103881835938
                    }
                },
                "velocity": {
                    "x": -8.572126388549805,
                    "y": -0.9051437377929688,
                    "z": 0.281179815530777
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1011.5921020507812,
                        "y": 6485.453125,
                        "z": 364.1295471191406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1098.0789794921875,
                        "y": 6483.5009765625,
                        "z": 367.2463073730469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.12188720703125,
                "transform": {
                    "location": {
                        "x": -1184.57666015625,
                        "y": 6475.4423828125,
                        "z": 370.3146057128906
                    },
                    "rotation": {
                        "roll": 9.588122338755056e-05,
                        "pitch": 1.7580701112747192,
                        "yaw": -173.95223999023438
                    }
                },
                "velocity": {
                    "x": -8.072967529296875,
                    "y": -0.8558507561683655,
                    "z": 0.24445860087871552
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1114.45654296875,
                        "y": 6482.3974609375,
                        "z": 367.8672180175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -889.5884399414062,
                        "y": 6486.3779296875,
                        "z": 362.00732421875
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.86501407623291,
                "transform": {
                    "location": {
                        "x": -1146.4527587890625,
                        "y": 6479.45947265625,
                        "z": 369.03546142578125
                    },
                    "rotation": {
                        "roll": 0.0014848196879029274,
                        "pitch": 1.973828911781311,
                        "yaw": -173.95509338378906
                    }
                },
                "velocity": {
                    "x": -6.82363748550415,
                    "y": -0.7132225036621094,
                    "z": 0.24022164940834045
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1081.4677734375,
                        "y": 6484.33349609375,
                        "z": 366.6166076660156
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1064.5574951171875,
                        "y": 6484.90087890625,
                        "z": 365.9566650390625
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1047.1431884765625,
                        "y": 6485.18359375,
                        "z": 365.2420959472656
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1029.3758544921875,
                        "y": 6485.31884765625,
                        "z": 364.60107421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -994.7865600585938,
                        "y": 6485.5810546875,
                        "z": 363.8293151855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -951.004638671875,
                        "y": 6485.91259765625,
                        "z": 363.1438903808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -971.5012817382812,
                        "y": 6485.7568359375,
                        "z": 363.4647521972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -926.8907470703125,
                        "y": 6486.095703125,
                        "z": 362.7550964355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -907.5062255859375,
                        "y": 6486.2431640625,
                        "z": 362.3724060058594
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -871.1342163085938,
                        "y": 6486.51806640625,
                        "z": 361.5945129394531
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1130.558349609375,
                        "y": 6481.05126953125,
                        "z": 368.4585876464844
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33603,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -853.2969970703125,
                        "y": 6486.65380859375,
                        "z": 361.1940002441406
                    },
                    "rotation": {
                        "roll": 4.16959605731293e-10,
                        "pitch": 1.1080273389816284,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6137434244155884,
        "expert_target_speed": 20.0,
        "target_point": [
            24.925360710486135,
            1.365420307771054
        ],
        "target_point_next": [
            24.925360710486135,
            1.365420307771054
        ]
    },
    "1180": {
        "acceleration": [
            -0.62042236328125,
            0.024858713150024414,
            -0.00615239143371582
        ],
        "angular_velocity": [
            -0.07344480603933334,
            -0.1286257952451706,
            -2.892624616622925
        ],
        "forward_vector": [
            -0.9966129064559937,
            -0.07673614472150803,
            0.029569605365395546
        ],
        "right_vector": [
            0.07678411900997162,
            -0.9970476031303406,
            0.0004887426039204001
        ],
        "location": [
            -1204.9268798828125,
            6474.076171875,
            370.8644104003906
        ],
        "rotation": [
            -0.02801513671875,
            1.6944605112075806,
            -175.5970916748047
        ],
        "velocity": [
            -8.677373886108398,
            -0.6620427370071411,
            0.23995594680309296
        ],
        "speed": 8.702592610535085,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 100.54316711425781,
        "front_vehicle_info": {
            "id": 33569,
            "type": "vehicle.audi.tt",
            "location": [
                -1304.805419921875,
                6462.744140625,
                373.0530700683594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.952291965484619,
                "transform": {
                    "location": {
                        "x": -1167.562744140625,
                        "y": 6477.2373046875,
                        "z": 369.74029541015625
                    },
                    "rotation": {
                        "roll": 0.0005645084311254323,
                        "pitch": 1.8393288850784302,
                        "yaw": -173.9917449951172
                    }
                },
                "velocity": {
                    "x": -7.90429162979126,
                    "y": -0.8343522548675537,
                    "z": 0.254908949136734
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1013.8243408203125,
                        "y": 6485.4365234375,
                        "z": 364.1783447265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1099.79052734375,
                        "y": 6483.39599609375,
                        "z": 367.31109619140625
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.609809875488281,
                "transform": {
                    "location": {
                        "x": -1186.697265625,
                        "y": 6475.2177734375,
                        "z": 370.3779602050781
                    },
                    "rotation": {
                        "roll": 0.000742611475288868,
                        "pitch": 1.7559459209442139,
                        "yaw": -173.98013305664062
                    }
                },
                "velocity": {
                    "x": -8.558378219604492,
                    "y": -0.9044026732444763,
                    "z": 0.25504180788993835
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1116.19091796875,
                        "y": 6482.265625,
                        "z": 367.9326477050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -892.0877075195312,
                        "y": 6486.359375,
                        "z": 362.0599670410156
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.8726701736450195,
                "transform": {
                    "location": {
                        "x": -1148.23681640625,
                        "y": 6479.27294921875,
                        "z": 369.09869384765625
                    },
                    "rotation": {
                        "roll": -0.001403799164108932,
                        "pitch": 1.9211612939834595,
                        "yaw": -173.99734497070312
                    }
                },
                "velocity": {
                    "x": -7.825344562530518,
                    "y": -0.8164697289466858,
                    "z": 0.2762191593647003
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1083.1510009765625,
                        "y": 6484.265625,
                        "z": 366.6805419921875
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.49234008789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1066.21337890625,
                        "y": 6484.85791015625,
                        "z": 366.02362060546875
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1048.8848876953125,
                        "y": 6485.169921875,
                        "z": 365.3124084472656
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1031.3756103515625,
                        "y": 6485.3037109375,
                        "z": 364.6656188964844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -997.0591430664062,
                        "y": 6485.5634765625,
                        "z": 363.8648681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -953.5042724609375,
                        "y": 6485.89404296875,
                        "z": 363.18310546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -974.0009155273438,
                        "y": 6485.73779296875,
                        "z": 363.50396728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -929.39013671875,
                        "y": 6486.07666015625,
                        "z": 362.8009948730469
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -910.0055541992188,
                        "y": 6486.22314453125,
                        "z": 362.4220886230469
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -873.6334228515625,
                        "y": 6486.4990234375,
                        "z": 361.6528015136719
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1132.313232421875,
                        "y": 6480.890625,
                        "z": 368.5221862792969
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33603,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -855.7963256835938,
                        "y": 6486.634765625,
                        "z": 361.2425231933594
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6306710243225098,
        "expert_target_speed": 20.0,
        "target_point": [
            22.76483685923799,
            1.425015655154007
        ],
        "target_point_next": [
            22.76483685923799,
            1.425015655154007
        ]
    },
    "1185": {
        "acceleration": [
            -0.5289649963378906,
            0.035834312438964844,
            0.000483095645904541
        ],
        "angular_velocity": [
            0.029439235106110573,
            -0.06059896945953369,
            1.9117677211761475
        ],
        "forward_vector": [
            -0.9967522025108337,
            -0.07511123269796371,
            0.02904030680656433
        ],
        "right_vector": [
            0.07515743374824524,
            -0.9971715807914734,
            0.0005009954329580069
        ],
        "location": [
            -1207.114990234375,
            6473.9111328125,
            370.92498779296875
        ],
        "rotation": [
            -0.028717035427689552,
            1.6641209125518799,
            -175.69056701660156
        ],
        "velocity": [
            -8.820109367370605,
            -0.6550581455230713,
            0.24140672385692596
        ],
        "speed": 8.84440107787943,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 98.3496322631836,
        "front_vehicle_info": {
            "id": 33569,
            "type": "vehicle.audi.tt",
            "location": [
                -1304.805419921875,
                6462.744140625,
                373.0530700683594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.829543590545654,
                "transform": {
                    "location": {
                        "x": -1169.332763671875,
                        "y": 6477.05126953125,
                        "z": 369.7976379394531
                    },
                    "rotation": {
                        "roll": 0.00266650365665555,
                        "pitch": 1.7955609560012817,
                        "yaw": -173.93533325195312
                    }
                },
                "velocity": {
                    "x": -6.788240909576416,
                    "y": -0.7168756723403931,
                    "z": 0.22031065821647644
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1016.0958251953125,
                        "y": 6485.41845703125,
                        "z": 364.23333740234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1101.7452392578125,
                        "y": 6483.275390625,
                        "z": 367.38525390625
                    },
                    "rotation": {
                        "roll": -6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -176.34646606445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.280635833740234,
                "transform": {
                    "location": {
                        "x": -1188.781982421875,
                        "y": 6474.99755859375,
                        "z": 370.44061279296875
                    },
                    "rotation": {
                        "roll": 0.0005153659149073064,
                        "pitch": 1.675315499305725,
                        "yaw": -173.9523468017578
                    }
                },
                "velocity": {
                    "x": -8.231179237365723,
                    "y": -0.8701417446136475,
                    "z": 0.2438666671514511
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1118.236572265625,
                        "y": 6482.10791015625,
                        "z": 368.0095520019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1125433444976807,
                        "yaw": -175.4870147705078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -894.5870361328125,
                        "y": 6486.34033203125,
                        "z": 362.11236572265625
                    },
                    "rotation": {
                        "roll": 4.169713463397784e-10,
                        "pitch": 1.1886850595474243,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.140764236450195,
                "transform": {
                    "location": {
                        "x": -1150.414794921875,
                        "y": 6479.044921875,
                        "z": 369.1752624511719
                    },
                    "rotation": {
                        "roll": 0.0008053787751123309,
                        "pitch": 1.843761682510376,
                        "yaw": -173.97601318359375
                    }
                },
                "velocity": {
                    "x": -9.085293769836426,
                    "y": -0.9550989866256714,
                    "z": 0.31430166959762573
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1085.0281982421875,
                        "y": 6484.17822265625,
                        "z": 366.7515563964844
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1068.0240478515625,
                        "y": 6484.81005859375,
                        "z": 366.09686279296875
                    },
                    "rotation": {
                        "roll": 3.3376614805291638e-09,
                        "pitch": 2.2653071880340576,
                        "yaw": -178.35183715820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1050.9603271484375,
                        "y": 6485.14501953125,
                        "z": 365.3978576660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1033.6068115234375,
                        "y": 6485.28662109375,
                        "z": 364.73822021484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9223088026046753,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -999.2911376953125,
                        "y": 6485.546875,
                        "z": 363.900146484375
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -956.00390625,
                        "y": 6485.8740234375,
                        "z": 363.22216796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -976.5005493164062,
                        "y": 6485.71875,
                        "z": 363.54302978515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -931.8897705078125,
                        "y": 6486.05712890625,
                        "z": 362.8429870605469
                    },
                    "rotation": {
                        "roll": -2.0846688264519742e-10,
                        "pitch": 0.9058879613876343,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -912.5048217773438,
                        "y": 6486.205078125,
                        "z": 362.4718017578125
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -876.1326293945312,
                        "y": 6486.48046875,
                        "z": 361.7101135253906
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1134.4532470703125,
                        "y": 6480.68408203125,
                        "z": 368.599609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33603,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -858.2955932617188,
                        "y": 6486.61572265625,
                        "z": 361.2945251464844
                    },
                    "rotation": {
                        "roll": -4.1698353103747365e-10,
                        "pitch": 1.266337513923645,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6870330572128296,
        "expert_target_speed": 20.0,
        "target_point": [
            20.56815641406294,
            1.4619978815338546
        ],
        "target_point_next": [
            20.56815641406294,
            1.4619978815338546
        ]
    },
    "1190": {
        "acceleration": [
            -0.4850196838378906,
            0.02833247184753418,
            0.00021576881408691406
        ],
        "angular_velocity": [
            -0.01407034881412983,
            -0.04901066794991493,
            -2.8415894508361816
        ],
        "forward_vector": [
            -0.9969410300254822,
            -0.07262533903121948,
            0.028880035504698753
        ],
        "right_vector": [
            0.07267159223556519,
            -0.9973556995391846,
            0.0005537064862437546
        ],
        "location": [
            -1209.33642578125,
            6473.748046875,
            370.98583984375
        ],
        "rotation": [
            -0.03173828125,
            1.654934287071228,
            -175.83346557617188
        ],
        "velocity": [
            -8.945794105529785,
            -0.6460590362548828,
            0.2442348599433899
        ],
        "speed": 8.969092733206521,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 96.12329864501953,
        "front_vehicle_info": {
            "id": 33569,
            "type": "vehicle.audi.tt",
            "location": [
                -1304.805419921875,
                6462.744140625,
                373.0530700683594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.294514179229736,
                "transform": {
                    "location": {
                        "x": -1171.071044921875,
                        "y": 6476.8671875,
                        "z": 369.8531188964844
                    },
                    "rotation": {
                        "roll": 0.0023596950341016054,
                        "pitch": 1.8315082788467407,
                        "yaw": -173.9253692626953
                    }
                },
                "velocity": {
                    "x": -7.250513553619385,
                    "y": -0.7657557725906372,
                    "z": 0.23154465854167938
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1018.3316040039062,
                        "y": 6485.40234375,
                        "z": 364.2875061035156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4635933637619019,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1103.9927978515625,
                        "y": 6483.13134765625,
                        "z": 367.470458984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33604,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -831.8023071289062,
                        "y": 6486.81591796875,
                        "z": 361.0177001953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.679275512695312,
                "transform": {
                    "location": {
                        "x": -1190.8846435546875,
                        "y": 6474.775390625,
                        "z": 370.5024108886719
                    },
                    "rotation": {
                        "roll": 0.0005035932408645749,
                        "pitch": 1.7204630374908447,
                        "yaw": -173.98593139648438
                    }
                },
                "velocity": {
                    "x": -8.62778091430664,
                    "y": -0.9092099070549011,
                    "z": 0.25407952070236206
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1120.464599609375,
                        "y": 6481.92626953125,
                        "z": 368.0916442871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -897.0862426757812,
                        "y": 6486.322265625,
                        "z": 362.1636962890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.162423014640808,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.275108337402344,
                "transform": {
                    "location": {
                        "x": -1152.57763671875,
                        "y": 6478.81787109375,
                        "z": 369.2486572265625
                    },
                    "rotation": {
                        "roll": -0.0028076120652258396,
                        "pitch": 2.0009584426879883,
                        "yaw": -174.0259552001953
                    }
                },
                "velocity": {
                    "x": -8.225348472595215,
                    "y": -0.8608312606811523,
                    "z": 0.2829027771949768
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1087.270263671875,
                        "y": 6484.07421875,
                        "z": 366.8365783691406
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.2058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1070.2349853515625,
                        "y": 6484.7421875,
                        "z": 366.1840515136719
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1053.108642578125,
                        "y": 6485.12109375,
                        "z": 365.4863586425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.21124267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1035.722900390625,
                        "y": 6485.27001953125,
                        "z": 364.8117980957031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1001.567138671875,
                        "y": 6485.529296875,
                        "z": 363.9373779296875
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -958.5034790039062,
                        "y": 6485.85595703125,
                        "z": 363.2613525390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -979.0001220703125,
                        "y": 6485.69970703125,
                        "z": 363.58221435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -934.3893432617188,
                        "y": 6486.03857421875,
                        "z": 362.8839416503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -915.0040283203125,
                        "y": 6486.18505859375,
                        "z": 362.5215148925781
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -878.6319580078125,
                        "y": 6486.4619140625,
                        "z": 361.7669372558594
                    },
                    "rotation": {
                        "roll": 4.1698688946212314e-10,
                        "pitch": 1.2872378826141357,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1136.642822265625,
                        "y": 6480.4736328125,
                        "z": 368.67889404296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.34109497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33603,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -860.794921875,
                        "y": 6486.59619140625,
                        "z": 361.34979248046875
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7244032621383667,
        "expert_target_speed": 20.0,
        "target_point": [
            18.33703212274215,
            1.512041774042402
        ],
        "target_point_next": [
            18.33703212274215,
            1.512041774042402
        ]
    },
    "1195": {
        "acceleration": [
            -0.2564048767089844,
            0.06138801574707031,
            0.013419389724731445
        ],
        "angular_velocity": [
            0.04407750442624092,
            -0.18665723502635956,
            1.8535847663879395
        ],
        "forward_vector": [
            -0.9970792531967163,
            -0.07093404978513718,
            0.028307471424341202
        ],
        "right_vector": [
            0.0709795281291008,
            -0.9974775910377502,
            0.0006037626299075782
        ],
        "location": [
            -1211.586669921875,
            6473.58740234375,
            371.046875
        ],
        "rotation": [
            -0.034606922417879105,
            1.6221152544021606,
            -175.93072509765625
        ],
        "velocity": [
            -9.043065071105957,
            -0.6337440013885498,
            0.24446870386600494
        ],
        "speed": 9.065244472133807,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 93.86871337890625,
        "front_vehicle_info": {
            "id": 33569,
            "type": "vehicle.audi.tt",
            "location": [
                -1304.805419921875,
                6462.744140625,
                373.0530700683594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.940786838531494,
                "transform": {
                    "location": {
                        "x": -1172.9681396484375,
                        "y": 6476.66650390625,
                        "z": 369.9136657714844
                    },
                    "rotation": {
                        "roll": 0.0015742362011224031,
                        "pitch": 1.839684009552002,
                        "yaw": -173.94532775878906
                    }
                },
                "velocity": {
                    "x": -7.8931121826171875,
                    "y": -0.8321310877799988,
                    "z": 0.24986791610717773
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1020.5841064453125,
                        "y": 6485.384765625,
                        "z": 364.347412109375
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1106.07177734375,
                        "y": 6482.994140625,
                        "z": 367.54931640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33604,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -834.3009033203125,
                        "y": 6486.7978515625,
                        "z": 360.94091796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.47480741143226624,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.870193481445312,
                "transform": {
                    "location": {
                        "x": -1193.0638427734375,
                        "y": 6474.54541015625,
                        "z": 370.56646728515625
                    },
                    "rotation": {
                        "roll": 0.0007975537446327507,
                        "pitch": 1.695833444595337,
                        "yaw": -173.96963500976562
                    }
                },
                "velocity": {
                    "x": -8.817625999450684,
                    "y": -0.9295824766159058,
                    "z": 0.2562975585460663
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1122.5240478515625,
                        "y": 6481.7578125,
                        "z": 368.1676025390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0597596168518066,
                        "yaw": -175.2005157470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -899.5855102539062,
                        "y": 6486.30224609375,
                        "z": 362.21435546875
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.432307243347168,
                "transform": {
                    "location": {
                        "x": -1154.6343994140625,
                        "y": 6478.6015625,
                        "z": 369.31988525390625
                    },
                    "rotation": {
                        "roll": 0.0009441479342058301,
                        "pitch": 1.9521294832229614,
                        "yaw": -173.97979736328125
                    }
                },
                "velocity": {
                    "x": -8.380880355834961,
                    "y": -0.8840806484222412,
                    "z": 0.2881714403629303
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1089.3826904296875,
                        "y": 6483.97119140625,
                        "z": 366.91650390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1072.389404296875,
                        "y": 6484.6748046875,
                        "z": 366.26904296875
                    },
                    "rotation": {
                        "roll": 3.3375264774093694e-09,
                        "pitch": 2.205857276916504,
                        "yaw": -178.06532287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1055.306884765625,
                        "y": 6485.0869140625,
                        "z": 365.5766296386719
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1037.9578857421875,
                        "y": 6485.25341796875,
                        "z": 364.8895568847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.075209379196167,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1003.8380737304688,
                        "y": 6485.51220703125,
                        "z": 363.97509765625
                    },
                    "rotation": {
                        "roll": -4.169457556990608e-10,
                        "pitch": 1.0048915147781372,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -961.0031127929688,
                        "y": 6485.8369140625,
                        "z": 363.3004150390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -981.499755859375,
                        "y": 6485.681640625,
                        "z": 363.62127685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -936.8889770507812,
                        "y": 6486.02001953125,
                        "z": 362.92303466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -917.5033569335938,
                        "y": 6486.16650390625,
                        "z": 362.5711669921875
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -881.1312255859375,
                        "y": 6486.4423828125,
                        "z": 361.8228454589844
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1138.69677734375,
                        "y": 6480.2705078125,
                        "z": 368.7532043457031
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33603,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -863.294189453125,
                        "y": 6486.5771484375,
                        "z": 361.4085388183594
                    },
                    "rotation": {
                        "roll": 4.1700359831864375e-10,
                        "pitch": 1.385804295539856,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7701435685157776,
        "expert_target_speed": 20.0,
        "target_point": [
            16.07846871065105,
            1.5426028385234827
        ],
        "target_point_next": [
            16.07846871065105,
            1.5426028385234827
        ]
    },
    "1200": {
        "acceleration": [
            0.1972198486328125,
            -0.4062962532043457,
            -0.036954283714294434
        ],
        "angular_velocity": [
            -0.20184125006198883,
            -0.19306756556034088,
            0.9553999900817871
        ],
        "forward_vector": [
            -0.9964947700500488,
            -0.0789756327867508,
            0.02758629620075226
        ],
        "right_vector": [
            0.07907815277576447,
            -0.9968648552894592,
            0.002643510000780225
        ],
        "location": [
            -1213.8492431640625,
            6473.41357421875,
            371.1076965332031
        ],
        "rotation": [
            -0.1515198051929474,
            1.5807788372039795,
            -175.4685821533203
        ],
        "velocity": [
            -9.04117488861084,
            -0.7653358578681946,
            0.24161012470722198
        ],
        "speed": 9.073509924047368,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 91.60047912597656,
        "front_vehicle_info": {
            "id": 33569,
            "type": "vehicle.audi.tt",
            "location": [
                -1304.805419921875,
                6462.744140625,
                373.0530700683594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.31796932220459,
                "transform": {
                    "location": {
                        "x": -1175.159912109375,
                        "y": 6476.435546875,
                        "z": 369.98272705078125
                    },
                    "rotation": {
                        "roll": 0.0013037408934906125,
                        "pitch": 1.8263856172561646,
                        "yaw": -173.92576599121094
                    }
                },
                "velocity": {
                    "x": -9.261946678161621,
                    "y": -0.9780778884887695,
                    "z": 0.2902679145336151
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1022.6677856445312,
                        "y": 6485.369140625,
                        "z": 364.40338134765625
                    },
                    "rotation": {
                        "roll": 4.1704761866157014e-10,
                        "pitch": 1.616500735282898,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1108.1539306640625,
                        "y": 6482.85546875,
                        "z": 367.6282653808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.05996704101562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33604,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -836.800537109375,
                        "y": 6486.77880859375,
                        "z": 360.962890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.72799015045166,
                "transform": {
                    "location": {
                        "x": -1195.2628173828125,
                        "y": 6474.3134765625,
                        "z": 370.6305847167969
                    },
                    "rotation": {
                        "roll": -0.0020141620188951492,
                        "pitch": 1.6453856229782104,
                        "yaw": -173.9927215576172
                    }
                },
                "velocity": {
                    "x": -8.676041603088379,
                    "y": -0.917140543460846,
                    "z": 0.25094589591026306
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1124.60302734375,
                        "y": 6481.5791015625,
                        "z": 368.242919921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -902.0848388671875,
                        "y": 6486.2841796875,
                        "z": 362.2644348144531
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.16332721710205,
                "transform": {
                    "location": {
                        "x": -1156.693603515625,
                        "y": 6478.384765625,
                        "z": 369.3897705078125
                    },
                    "rotation": {
                        "roll": -0.001434322795830667,
                        "pitch": 1.9416587352752686,
                        "yaw": -174.0049285888672
                    }
                },
                "velocity": {
                    "x": -8.113831520080566,
                    "y": -0.8547675609588623,
                    "z": 0.27391037344932556
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1091.461181640625,
                        "y": 6483.86376953125,
                        "z": 366.99530029296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1074.458984375,
                        "y": 6484.60400390625,
                        "z": 366.3493957519531
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1057.369140625,
                        "y": 6485.0537109375,
                        "z": 365.66162109375
                    },
                    "rotation": {
                        "roll": -1.6689151172144534e-09,
                        "pitch": 2.3373589515686035,
                        "yaw": -178.92474365234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1040.0234375,
                        "y": 6485.23876953125,
                        "z": 364.9654235839844
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1005.9537353515625,
                        "y": 6485.49609375,
                        "z": 364.01507568359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -963.502685546875,
                        "y": 6485.81787109375,
                        "z": 363.3396301269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -983.9993286132812,
                        "y": 6485.66259765625,
                        "z": 363.6604919433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -939.3885498046875,
                        "y": 6486.0009765625,
                        "z": 362.96209716796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -920.0026245117188,
                        "y": 6486.1474609375,
                        "z": 362.6208801269531
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -883.6305541992188,
                        "y": 6486.423828125,
                        "z": 361.8783264160156
                    },
                    "rotation": {
                        "roll": 4.1698158814718056e-10,
                        "pitch": 1.2543846368789673,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1140.7646484375,
                        "y": 6480.06005859375,
                        "z": 368.8281555175781
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33603,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -865.793212890625,
                        "y": 6486.55810546875,
                        "z": 361.4680480957031
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.806588351726532,
        "expert_target_speed": 20.0,
        "target_point": [
            13.821153532475817,
            1.4183415974496139
        ],
        "target_point_next": [
            13.821153532475817,
            1.4183415974496139
        ]
    },
    "1205": {
        "acceleration": [
            0.5959510803222656,
            -0.10305643081665039,
            -0.042077600955963135
        ],
        "angular_velocity": [
            0.33453673124313354,
            -0.2502269148826599,
            4.220962047576904
        ],
        "forward_vector": [
            -0.9954891204833984,
            -0.091060571372509,
            0.026634640991687775
        ],
        "right_vector": [
            0.0911586731672287,
            -0.9958332777023315,
            0.002490234561264515
        ],
        "location": [
            -1216.095458984375,
            6473.21337890625,
            371.1676330566406
        ],
        "rotation": [
            -0.142730712890625,
            1.5262329578399658,
            -174.7735137939453
        ],
        "velocity": [
            -8.922364234924316,
            -0.833666205406189,
            0.23605485260486603
        ],
        "speed": 8.96122663940004,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 89.34548950195312,
        "front_vehicle_info": {
            "id": 33569,
            "type": "vehicle.audi.tt",
            "location": [
                -1304.805419921875,
                6462.744140625,
                373.0530700683594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.754775047302246,
                "transform": {
                    "location": {
                        "x": -1177.546142578125,
                        "y": 6476.18310546875,
                        "z": 370.0575256347656
                    },
                    "rotation": {
                        "roll": -0.0007324308389797807,
                        "pitch": 1.79645574092865,
                        "yaw": -173.96766662597656
                    }
                },
                "velocity": {
                    "x": -9.696114540100098,
                    "y": -1.0245264768600464,
                    "z": 0.30222588777542114
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1024.7547607421875,
                        "y": 6485.35400390625,
                        "z": 364.4623107910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1110.2000732421875,
                        "y": 6482.70947265625,
                        "z": 367.7059631347656
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33604,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -839.3001098632812,
                        "y": 6486.76025390625,
                        "z": 360.9851379394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6331038475036621,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.6732816696167,
                "transform": {
                    "location": {
                        "x": -1197.41064453125,
                        "y": 6474.08740234375,
                        "z": 370.6925964355469
                    },
                    "rotation": {
                        "roll": -6.102986299083568e-05,
                        "pitch": 1.64229154586792,
                        "yaw": -173.96109008789062
                    }
                },
                "velocity": {
                    "x": -8.621649742126465,
                    "y": -0.9115949273109436,
                    "z": 0.2489304095506668
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1126.654296875,
                        "y": 6481.40283203125,
                        "z": 368.3172302246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.047260284423828,
                        "yaw": -174.91403198242188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -904.5441284179688,
                        "y": 6486.2646484375,
                        "z": 362.3135070800781
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.659123420715332,
                "transform": {
                    "location": {
                        "x": -1158.7718505859375,
                        "y": 6478.166015625,
                        "z": 369.46044921875
                    },
                    "rotation": {
                        "roll": 0.0008803874370642006,
                        "pitch": 1.8663969039916992,
                        "yaw": -173.96128845214844
                    }
                },
                "velocity": {
                    "x": -8.606369018554688,
                    "y": -0.9096118211746216,
                    "z": 0.2888544499874115
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1093.511962890625,
                        "y": 6483.7578125,
                        "z": 367.0730285644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.91940307617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1076.5218505859375,
                        "y": 6484.52978515625,
                        "z": 366.4284973144531
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1059.4459228515625,
                        "y": 6485.01416015625,
                        "z": 365.7470703125
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1042.1092529296875,
                        "y": 6485.22216796875,
                        "z": 365.043701171875
                    },
                    "rotation": {
                        "roll": -8.343941093613694e-10,
                        "pitch": 2.228123664855957,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1008.0354614257812,
                        "y": 6485.48046875,
                        "z": 364.054443359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1577852964401245,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -965.9623413085938,
                        "y": 6485.7998046875,
                        "z": 363.37811279296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -986.458984375,
                        "y": 6485.6435546875,
                        "z": 363.6990051269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -941.8482055664062,
                        "y": 6485.982421875,
                        "z": 363.0006103515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -922.4619140625,
                        "y": 6486.12841796875,
                        "z": 362.6697692871094
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -886.1298217773438,
                        "y": 6486.404296875,
                        "z": 361.9327392578125
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1142.82958984375,
                        "y": 6479.84912109375,
                        "z": 368.9029235839844
                    },
                    "rotation": {
                        "roll": -6.674344188439818e-09,
                        "pitch": 2.0420420169830322,
                        "yaw": -174.05459594726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33603,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -868.2921142578125,
                        "y": 6486.5400390625,
                        "z": 361.5276794433594
                    },
                    "rotation": {
                        "roll": 4.1699788067006693e-10,
                        "pitch": 1.352951169013977,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7802603244781494,
        "expert_target_speed": 20.0,
        "target_point": [
            11.582229001937165,
            1.2558254945531686
        ],
        "target_point_next": [
            11.582229001937165,
            1.2558254945531686
        ]
    },
    "1210": {
        "acceleration": [
            1.2199020385742188,
            0.0004100799560546875,
            -0.055449604988098145
        ],
        "angular_velocity": [
            0.08786728233098984,
            -0.2980852723121643,
            -1.8083257675170898
        ],
        "forward_vector": [
            -0.9951610565185547,
            -0.09495138376951218,
            0.025271108373999596
        ],
        "right_vector": [
            0.09502250701189041,
            -0.9954737424850464,
            0.0016261384589597583
        ],
        "location": [
            -1218.2982177734375,
            6473.00634765625,
            371.2259216308594
        ],
        "rotation": [
            -0.0932006761431694,
            1.4480819702148438,
            -174.5497283935547
        ],
        "velocity": [
            -8.685514450073242,
            -0.8396494388580322,
            0.22829771041870117
        ],
        "speed": 8.726005526161767,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 87.13292694091797,
        "front_vehicle_info": {
            "id": 33569,
            "type": "vehicle.audi.tt",
            "location": [
                -1304.805419921875,
                6462.744140625,
                373.0530700683594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 33578,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.001123428344727,
                "transform": {
                    "location": {
                        "x": -1179.8935546875,
                        "y": 6475.935546875,
                        "z": 370.1307067871094
                    },
                    "rotation": {
                        "roll": -0.00015258940402418375,
                        "pitch": 1.7448878288269043,
                        "yaw": -173.96556091308594
                    }
                },
                "velocity": {
                    "x": -8.94723892211914,
                    "y": -0.9445359706878662,
                    "z": 0.2738357186317444
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1026.8062744140625,
                        "y": 6485.33837890625,
                        "z": 364.5230712890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7694082260131836,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1112.3594970703125,
                        "y": 6482.5556640625,
                        "z": 367.7879943847656
                    },
                    "rotation": {
                        "roll": 6.674803820772013e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -175.77346801757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33573,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.331787109375,
                        "y": 6469.83349609375,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33572,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 6468.74072265625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33571,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.7591552734375,
                        "y": 6466.2685546875,
                        "z": 373.0471496582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33604,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -841.7997436523438,
                        "y": 6486.74072265625,
                        "z": 361.0156555175781
                    },
                    "rotation": {
                        "roll": 2.0846069315183513e-10,
                        "pitch": 0.7914208173751831,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 33568,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7847900390625,
                        "y": 6461.6923828125,
                        "z": 373.241943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33567,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.637906074523926,
                "transform": {
                    "location": {
                        "x": -1199.588623046875,
                        "y": 6473.85693359375,
                        "z": 370.75494384765625
                    },
                    "rotation": {
                        "roll": -0.001312247826717794,
                        "pitch": 1.630659818649292,
                        "yaw": -173.98236083984375
                    }
                },
                "velocity": {
                    "x": -8.586691856384277,
                    "y": -0.9071418046951294,
                    "z": 0.24338097870349884
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1128.84765625,
                        "y": 6481.20654296875,
                        "z": 368.3966369628906
                    },
                    "rotation": {
                        "roll": 1.3348732785800621e-08,
                        "pitch": 2.047260284423828,
                        "yaw": -174.62759399414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 33601,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -907.0433349609375,
                        "y": 6486.24658203125,
                        "z": 362.3631896972656
                    },
                    "rotation": {
                        "roll": 4.169640466233915e-10,
                        "pitch": 1.1391252279281616,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33580,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.284773826599121,
                "transform": {
                    "location": {
                        "x": -1161.0177001953125,
                        "y": 6477.9287109375,
                        "z": 369.5360107421875
                    },
                    "rotation": {
                        "roll": -0.00039672275306656957,
                        "pitch": 1.8417398929595947,
                        "yaw": -173.9871826171875
                    }
                },
                "velocity": {
                    "x": -9.228294372558594,
                    "y": -0.9748770594596863,
                    "z": 0.308597207069397
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1095.6387939453125,
                        "y": 6483.63720703125,
                        "z": 367.1536560058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.149747371673584,
                        "yaw": -176.63290405273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 33592,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1078.6197509765625,
                        "y": 6484.453125,
                        "z": 366.5086364746094
                    },
                    "rotation": {
                        "roll": -3.3374019103860064e-09,
                        "pitch": 2.149747371673584,
                        "yaw": -177.77883911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33593,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1061.5196533203125,
                        "y": 6484.9697265625,
                        "z": 365.83245849609375
                    },
                    "rotation": {
                        "roll": 1.668900129203621e-09,
                        "pitch": 2.3247504234313965,
                        "yaw": -178.6382598876953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33594,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1044.1669921875,
                        "y": 6485.2060546875,
                        "z": 365.1226501464844
                    },
                    "rotation": {
                        "roll": 8.344575586072267e-10,
                        "pitch": 2.3373589515686035,
                        "yaw": -179.49769592285156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33596,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1010.0895385742188,
                        "y": 6485.46533203125,
                        "z": 364.0970764160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3106995820999146,
                        "yaw": -179.56564331054688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 33598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -968.4619140625,
                        "y": 6485.77978515625,
                        "z": 363.4172668457031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33597,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -988.9585571289062,
                        "y": 6485.62548828125,
                        "z": 363.7381286621094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33599,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -944.3477783203125,
                        "y": 6485.962890625,
                        "z": 363.0398254394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8968788981437683,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33600,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -924.961181640625,
                        "y": 6486.1103515625,
                        "z": 362.71826171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0317888259887695,
                        "yaw": -179.56558227539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -888.589111328125,
                        "y": 6486.38623046875,
                        "z": 361.98583984375
                    },
                    "rotation": {
                        "roll": 4.1697639785454044e-10,
                        "pitch": 1.2215383052825928,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 33582,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.0562744140625,
                        "y": 6479.6142578125,
                        "z": 368.982177734375
                    },
                    "rotation": {
                        "roll": -6.674188313127161e-09,
                        "pitch": 2.0041003227233887,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 33603,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -870.751220703125,
                        "y": 6486.52099609375,
                        "z": 361.5856628417969
                    },
                    "rotation": {
                        "roll": -4.169923017993682e-10,
                        "pitch": 1.3200979232788086,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 33569,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.805419921875,
                        "y": 6462.744140625,
                        "z": 373.0530700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8429409265518188,
                        "yaw": -173.97177124023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 33570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7379150390625,
                        "y": 6465.21630859375,
                        "z": 373.2477722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7291909456253052,
                        "yaw": -174.01951599121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.8308854699134827,
        "expert_target_speed": 20.0,
        "target_point": [
            9.374581277787485,
            1.2137052328792466
        ],
        "target_point_next": [
            9.374581277787485,
            1.2137052328792466
        ]
    }
}